Published

2020

1. An Improved Robot Path Planning Algorithm for a Novel Self-adapting Intelligent Machine Tending Robotic System

   Jia, Feiyu, Tzintzun, Juan, and Ahmad, Rafiq

   In Industrial and Robotic Systems 2020

   Abs HTML

   Autonomous industrial mobile manipulation systems (AIMMS) are widely used in manufacturing processes. AIMMS can help with part handling and delivering, part insertion and extraction, loading and unloading, and some other auxiliary tasks in a machine tending workshop environment. However, nowadays most AIMMS cannot truly realize the complete automation because the path for the mobile platform needs setting in advance in terms of different environment and inspection need to be executed to ensure safety due to lack of proper path planning algorithms. Therefore, this paper proposes an improved path-planning algorithm based on Rapidly-exploring Random Tree (RRT) and the quintic B-spline curve technique to generate a collision-free and smoother path for our designed Novel Self-adapting Intelligent Machine Tending Robotic System in the workspace. In the end, the proposed algorithm is demonstrated to generate paths for five different scenarios to test its performance and reliability.

Working papers / Under review

2020

1. Multi-vehicle Traveling Salesman Problem with Pick-up and Delivery and Split Load Constraints

   Tzintzun, Juan, Nakashima, Tetsu, Doucette, John, and Ahmad, Rafiq

   In preparation 2020

   Abs PDF Code

   In this paper we propose a 0-1 integer linear program (BILP) formulation for the open pick-up and delivery problem (PDP) with multiple origins, multiple finals and split load with a heterogeneous set of vehicles. Preliminary research has indicated that there is no an existing BILP formulation that simultaneously accounts for all the considerations implemented in this work. We also provide several experimental runs to study the performance of our formulation and provide an application of the model to solve a pick-up and delivery problem for multiple robots in an obstacle-free logistic scenario.

2. Formal Methods for the General Pick-up and Delivery Problem

   Tzintzun, Juan, Nakashima, Tetsu, Doucette, John, and Ahmad, Rafiq

   In preparation 2020

   Abs PDF Code

   Increasing the autonomy of mobile robots has been suggested as an important research direction to alleviate the increasing complexity of current intra-logistics systems. In this paper, we use recent developments in decomposition of formulas given in finite linear temporal logic to propose an approach to address different pick-up and delivery tasks, in a multi-robot system, under the same problem specification and solution procedure.

Conferences and Talks

2014

1. Organization of Products in Containers for Distribution to Families in Poverty.

   Tzintzun, Juan, and Gómez, Alejandra

   In XVII Latin-Iberian-American Conference on Operations Research (XVII CLAIO). Monterrey,NL, Mexico, 2014

   Slides

2016

1. The Bin Packing Problem Applied to Groceries Distributed by a Food Bank.

   Tzintzun, Juan, and Gómez, Alejandra

   In 8th International Conference on Production Research (ICPR) - Americas. Valparaiso, VAL, Chile 2016

   Slides
2. An Open Vehicle Routing Problem with Multiple Depots, Capacity Constraints, and Time Windows.

   Tzintzun, Juan, and Gómez, Alejandra

   In V National Congress of the Mexican Society for Operations Research (V SMIO). Cd. Madero, TAM, Mexico. 2016

   Slides