arXiv subjects

Per-Lage Götvall

Publications and source records attributed to Per-Lage Götvall.

2 recordsLinked to original sources

arXiv2025

Infrastructure-based Autonomous Mobile Robots for Internal Logistics -- Challenges and Future Perspectives

The adoption of Autonomous Mobile Robots (AMRs) for internal logistics is accelerating, with most solutions emphasizing decentralized, onboard intelligence. While AMRs in indoor environments like factories can be supported by infrastructure, involving external sensors and computational resources, such systems remain underexplored in the literature. This paper presents a comprehensive overview of infrastructure-based AMR systems, outlining key opportunities and challenges. To support this, we introduce a reference architecture combining infrastructure-based sensing, on-premise cloud computing, and onboard autonomy. Based on the architecture, we review core technologies for localization, perception, and planning. We demonstrate the approach in a real-world deployment in a heavy-vehicle manufacturing environment and summarize findings from a user experience (UX) evaluation. Our aim is to provide a holistic foundation for future development of scalable, robust, and human-compatible AMR systems in complex industrial environments.

cs.RO↗

arXiv2022

A Compositional Algorithm for the Conflict-Free Electric Vehicle Routing Problem

The Conflict-Free Electric Vehicle Routing Problem (CF-EVRP) is an extension of the Vehicle Routing Problem (VRP), a combinatorial optimization problem of designing routes for vehicles to visit customers such that a cost function, typically the number of vehicles or the total travelled distance, is minimized. The problem finds many logistics applications, particularly for highly automated logistic systems for material handling. The CF-EVRP involves constraints such as time windows on the delivery to the customers, limited operating range of the vehicles, and limited capacity on the number of vehicles that a road segment can accommodate at the same time. In this paper, the compositional algorithm ComSat for solving the CF-EVRP is presented. The algorithm iterates through the sub-problems until a globally feasible solution is found. The proposed algorithm is implemented using an optimizing SMT-solver and is evaluated against an implementation of a previously presented monolithic model. The soundness and completeness of the algorithm are proven, and it is benchmarked on a set of generated problems and found to be able to solve problems of industrial size.

eess.SY↗