According to an example aspect of the present invention, there is provided a method including detecting a first position of a mining vehicle with reference to a first worksite model, receiving information on a plurality of transformation matrices associated with the first worksite model, selecting a transformation matrix associated with the first worksite model based on the first position of the mining vehicle, performing, based on the selected transformation matrix, a coordinate transformation from input coordinates indicative of a second position of the mining vehicle in the first worksite model to transformed coordinates of a second worksite model, and providing the transformed coordinates to represent the second position of the mining vehicle for performing mining automation control based on the second worksite model.

A server includes a memory on which a map is stored, wherein the map represents locations of a plurality of mobile units; and a processor, configured to generate an emergency response plan based on sensor data and the map, wherein the emergency response plan comprises actions to be taken by a plurality of robots within a vicinity of the mobile units; and instruct a transceiver to send a signal representing the emergency response plan.

System, method, and computer program product for determining a route for a container handling vehicle operating on a rail system of an automatic grid-based storage and retrieval system. The method comprising creating a model of the rail system representing the rail system as a finite set of non-overlapping rectangular first zones in a first direction, and a finite set of non-overlapping rectangular second zones in a second direction, wherein the zones are positioned around grid positions that are not accessible by the container handling vehicle, determining overlap information indicative of one or more regions of the rail system in which there is an overlap between a zone of the finite set of first zones and a zone of the finite set of second zones, determining grid position zone information by, for each grid position determining in which of the finite set of first zones and/or the finite set of second zones the grid position is located, receiving a request for a route for at least one container handling vehicle from a first grid position to a second grid position; and determining the route using the model of the rail system.

A robot includes a controller programmed to: when a single tag is detected in an image captured by an imaging sensor, apply a first tag detection algorithm to the image to obtain pose data of the single tag; when two or more tags are detected in the image, apply a second tag detection algorithm to the image to obtain pose data of the two or more tags; obtain pose data of the single tag in a map frame or pose data of the two or more tags in the map frame; determine pose data of the robot in the map frame based on a comparison of the pose data of the tag in the image and the pose data of the tag in the map frame; and operate one or more motors to autonomously navigate the robot based on the pose data of the robot in the map frame.

An electronic message indicates that a materials handling vehicle is approaching an access-controlled travel path. The materials handling vehicle has a travel system that includes a normal travel mode, a limp travel mode, and a restricted travel mode. An electronic permission request is generated to enter the access-controlled travel path. Additionally, an electronic command is issued to set the travel system to the limp travel mode as the materials handling vehicle engages an entry threshold of the access-controlled travel path. A transceiver receives an electronic permission response that includes a determination of whether the access-controlled travel path is in an open state or a closed state. An electronic command then sets the travel system to the restricted travel mode when the access-controlled travel path is in the closed state, and the normal travel mode when the access-controlled travel path is in the open state.

Provided is a robot control method that controls a robot to guide an evacuation route in response to occurrence of an emergency situation. The robot may acquire evacuation route information on a space from a server when an emergency situation occurs in the space, and may move to a first node closest to the robot among nodes defined in the space and a second node indicated by direction information of the first node based on the evacuation route information and a current location of the robot.

On the assumption that a combined control object unit and a second type control object unit are alternately disposed along a Hamilton cycle at intermediate positions, and intermediate positions include an intermediate position M before exchange and an intermediate position M after exchange, a control device includes a first movement planning unit 1 and a first movement unit 2 that move each control object at an initial position S to an intermediate position M before exchange in control object units, a second movement planning unit 3 that creates a second movement plan for moving each control object assumed to be at a target position G to an intermediate position M after exchange in control object units, and an intermediate position exchange unit 4 that moves each control object at the intermediate position M before exchange to a movement destination of each control object determined by the second movement plan among intermediate positions M after exchange.

To provide a robot control system, etc. capable to contributing to reducing costs and causing to synchronize movements between robots. The system comprises: a plurality of mobile robots; a control apparatus that is communicably connected to the plurality of mobile robots and manages and controls the plurality of mobile robots; and a sensor apparatus that is communicably connected to the control apparatus and senses the plurality of mobile robots in a predetermined area. The control apparatus executes processings of: generating control information including information related to a current location and an intermediate destination of each of the plurality of mobile robots at the same timing based on information from the sensor apparatus; and transmitting the generated control information to each of the plurality of mobile robots.

An autonomous vehicle for autonomous navigation in an agricultural indoor environment includes an energy storage unit for storing electrical energy, a motor for moving the autonomous vehicle through the agricultural indoor environment using energy from the energy storage unit, and a wireless charging unit for charging the energy storage unit. The wireless charging unit is configured to wirelessly receive energy from an external charging station. A localizing unit is configured to generate data to update the localization of the autonomous vehicle within the agricultural indoor environment based on the known location of the charging station.

A method for ascertaining a position of at least one transport apparatus includes the step of capturing and ascertaining. The transport apparatus is configured to transport at least one component of a conveyor system. The step of capturing includes capturing at least one marking arranged in an area of a travel path, along which the transport apparatus travels through at least one route section, with an optical capture device of the transport apparatus. The step of ascertaining includes ascertaining a multidimensional position of the transport apparatus in the space with an electronic computing device, as a function of the captured marking.