• Corpus ID: 238744266

Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control

  title={Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control},
  author={Anxing Xiao and Hao Luan and Ziqi Zhao and Yue Hong and Jieting Zhao and Jiankun Wang and Max Q.‐H. Meng},
Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on specific marks and lack the formal design of planning algorithms. In this paper, we present a novel mobile manipulation system with applications in luggage trolley collection. The proposed system integrates a compact hardware design and a progressive perception… 


Path Planning for Nonholonomic Multiple Mobile Robot System with Applications to Robotic Autonomous Luggage Trolley Collection at Airports
  • Jiankun Wang, M. Meng
  • Computer Science
    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2020
A novel path planning algorithm for the nonholonomic multiple mobile robot system with applications to a robotic autonomous luggage trolley collection system at airports and results demonstrate that the algorithm can quickly generate feasible and smooth paths for each robot while satisfying the non holonomic constraints.
Coarse-to-Fine Visual Object Catching Strategy Applied in Autonomous Airport Baggage Trolley Collection
This study innovatively presents a supervisory control guided coarse-to-fine visual trolley catching strategy in large-scale airport environments and presents an accurate point cloud registration based object pose estimation method to promote the object manipulation with a position-based visual servoing controller.
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For airports with high passenger and luggage flows, a large number of staff members have to be hired to deploy the scattered passenger luggage trolleys. To release humans from the repetitive and
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