A multi-vehicle control system and method are disclosed. A plurality of transportation costs for a plurality of standby mobile vehicles to reach a target point are calculated. A target standby mobile vehicle with a minimum transportation cost is selected from the standby mobile vehicles that have been determined to have a path. A task is assigned to the target standby mobile vehicle with the minimum transportation cost, and the target standby mobile vehicle is controlled to move to the target point.

In various examples, embodiments are directed to identifying map data (e.g., relevant to a route) using a quad-tree spatial index. In this regard, spatial map data that indicates various map features is represented in a quad-tree spatial index for use in identifying map data. To identify map data, bounding shapes may be generated in association with various segments of a route. An indication of an object-oriented bounding shape may be used to query the quad-tree spatial index to identify map data related to the object-oriented bounding shape. In embodiments, an object-oriented spatial index may be generated that indexes the object-oriented bounding shapes associated with the route. The object-oriented spatial index may be used to query the quad-tree spatial index to identify map data related to the corresponding object-oriented bounding shapes. Alternatively, the quad-tree spatial index may be used to query the object-oriented spatial index to identify map data.

A mobile body passage management system that manages passage of a mobile body that moves autonomously includes a storage unit that stores a resource necessary for passage of the mobile body as resource data, a resource management unit that manages an allocation situation of the resource to the mobile body, and a use request processing unit that receives a request from the mobile body, performs new allocation of the resource, and releases the resource when use by the mobile body is finished. With this configuration and operation, it is possible to efficiently arbitrate passage of the mobile body that moves autonomously.

Embodiments provided herein include systems and methods for location-based field shaping. One embodiment of a system includes a materials handling vehicle and a computing device that are configured to receive location data via at least one of the plurality of transceiver anchors, receive sensor data from at least one sensor related to the characteristic of operation of the materials handling vehicle, and determine a first location of the materials handling vehicle in the covered environment. Some embodiments may be configured to determine a vector of movement of the materials handling vehicle, determine a shaped detection field for the materials handling vehicle from the vector of movement, and detect an object that encroaches on the shaped detection field. Some embodiments may be configured to send information to the materials handling vehicle to alter operation of the materials handling vehicle to reduce a likelihood of collision with the object.

A swarm of automated entities is coordinated and managed. The swarm includes at least a designated master and a slave. A swarm management module is instantiated at the master. The swarm management module includes a mission planning manager adapted to receive or load a mission and to provide a mission configuration. The designated swarm master is configured to announce itself over a communication module and a communication link, and to request at least one automated entity different from and external to the master to join in the performance of the mission as swarm slave. Reachable potential slaves receive a master announcing message that announces a mission type. At least one of the slaves that has a profile matching the announced mission type sends, in return, at least one swarm joining message.

A vehicle coupling system includes a first vehicle, a second vehicle, and a tow bar. The first vehicle includes a drive motor configured to propel the first vehicle and a lifting implement configured to support a product for movement. The second vehicle includes a lifting implement configured to support the product for movement. The tow bar is coupled to the first vehicle at a first end of the tow bar and coupled to the second vehicle at a second end of the tow bar opposite the first end. Responsive to the drive motor propelling the first vehicle, the tow bar exerts a force on the second vehicle to maintain a space between the second vehicle and the first vehicle.

A vehicle includes a chassis, a frame, a tractive element, a drive motor, and a cart interface. The cart interface includes a base frame coupled to the frame assembly of the vehicle, and a first and second pin assembly. The first and second pin assembly each include first pin configured to engage a cart and a actuator configured to raise the pin relative to the frame. The first pin assembly also includes a first linear actuator configured to bias the first pin relative to the first linear actuator and to permit relative movement between the first pin and first linear actuator. The cart interface includes a first actuator to reposition the first pin independently of the second pin and is configured to hold the pin in either of a lowered position, a raised position above a lowered position and an intermediate position between the raised and lowered positions.

A vehicle includes a frame, a drivetrain coupled to the frame, a base assembly coupled to the frame, and a lifting implement coupled to and supported on the base assembly. The lifting implement includes a platform, a cradle rotatably coupled to and supported on the platform so that the cradle, a scissor assembly coupled between the platform and the base assembly, and a lift actuator coupled between the base assembly and the scissor assembly. The lift actuator is configured to selectively raise the cradle relative to the base assembly. The lift actuator is a multi-stage telescoping actuator that includes a base stage, an intermediate stage, and an outer stage. The base stage is coupled to the base assembly, the outer stage is coupled to the scissor assembly, and the intermediate stage is arranged between the base stage and the outer stage.

A cart includes a chassis including one or more frame members, one or more casters, a first channel and a second channel coupled to the chassis, the first channel defining a longitudinal axis and the second channel defining a lateral axis. The first channel and the second channel each include a pair of guides each including a first portion and a second portion and a flat member coupling the guide to the frame members. The first portions extend substantially parallel to one another. The second portions are angled to increase a distance between the second portions as the second portions extend away from the first portions.

A vehicle system includes a first vehicle and a second vehicle. The first vehicle includes a first drive motor configured to drive one or more of a first plurality of tractive elements to propel the first vehicle, and a first cradle configured to support a product at a first end thereof for movement. The second vehicle includes a second drive motor configured to drive one or more of a second plurality of tractive elements to propel the second vehicle, and a second cradle configured to support the product at a second end thereof for movement. The first vehicle and the second vehicle move the product via at least one of the first drive motor or the second drive motor.