• Corpus ID: 238744266

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

@article{Xiao2021RoboticAT,
  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},
  journal={ArXiv},
  year={2021},
  volume={abs/2110.06648}
}
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… 

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