Towards a Fully Autonomous Robotic System for lntra-logistics Applications: Applications in the Oil and Gas lndustry

• Author / Creator

  Tzintzun Ramos, Juan M.

• Intra-logistics plays an important role in industry and service activities. However,
  current intra-logistics systems have several shortcomings for which mobile
  robots are the most suitable candidate to solve them. Nevertheless, the use
  of mobile robots should rstly overcome several challenges for becoming a realistic
  solution. We narrow the scope of this work and focus our attention to
  improve planning abilities (motion planning, task planning, task allocation) of
  robots used in intra-logistics operations. Towards that end we approach our
  problem from a formal methods perspective as it has been shown it may be
  a solution that can successfully improve important abilities desired by such
  robotic applications. In this work we present a mixed integer linear programming
  formulation for the multi-vehicle traveling salesman problem with pick-up
  and delivery and split load constraints as a new formulation able to capture a
  bigger set of instances. We then use recent developments in decomposition of
  formulas given in a subset of linear temporal logic to propose the multi-robot
  pickup and delivery problem with linear temporal logic. Finally, we explore
  possible applications of the models presented in intra-logistics operations in
  the oil and gas industry

• Subjects / Keywords

  • mobile robots
  • pickup and delivery

• Graduation date

  Fall 2020

• Type of Item

  Thesis

• Degree

  Master of Science

• DOI

  https://doi.org/10.7939/r3-pemt-4q79

• License

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