Warehouse automation by logistic robotic networks:a cyber-physical control approach

In this paper we provide a tutorial on the background of warehouse automation using robotic networks and survey relevant work in the literature.We present a new cyber-physical control method that achieves safe,deadlock-free,efficient,and adaptive behavior of multiple robots serving the goods-to-man logistic operations.A central piece of this method is the incremental supervisory control design algorithm,which is computationally scalable with respect to the number of robots.Finally,we provide a case study on 30 robots with changing conditions to demonstrate the effectiveness of the proposed method.