Academic literature on the topic 'Automated guided vehicle systems – Evaluation'

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Journal articles on the topic "Automated guided vehicle systems – Evaluation"

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Lee, Jim, Richard Hoo-Gon Choi, and Majid Khaksar. "Evaluation of automated guided vehicle systems by simulation." Computers & Industrial Engineering 19, no. 1-4 (January 1990): 318–21. http://dx.doi.org/10.1016/0360-8352(90)90130-e.

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Berman, Sigal, Edna Schechtman, and Yael Edan. "Evaluation of automatic guided vehicle systems." Robotics and Computer-Integrated Manufacturing 25, no. 3 (June 2009): 522–28. http://dx.doi.org/10.1016/j.rcim.2008.02.009.

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Do Couto, Dylan, Joseph Butterfield, Adrian Murphy, and Joseph Coleman. "Methods of Evaluating 3D Perception Systems for Unstructured Autonomous Logistics." Journal of Computational Vision and Imaging Systems 6, no. 1 (January 15, 2021): 1–5. http://dx.doi.org/10.15353/jcvis.v6i1.3558.

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This study introduces methods of evaluating 3D perception systems, such as Time of Flight (ToF) systems, for automated logistics applications in unstructured environments. Here perception is defined as a system’s understanding of its environment and the Objects Of Interest (OOI) within that environment, through hardware consisting of cameras or depth sensors. Current computer guided machinery that rely on perception systems, such as an Autonomous Guided Vehicle (AGV), require structured environments that are specifically designed for such a machine. Unstructured environments include warehouses or manufacturing facilities that have not been tailor designed or structured specifically for the purpose of using a computer guided machine. In this study, two methods are proposed to assess 3D systems proposed for autonomous logistics in unstructured environments. The results of this study indicate that the methods presented here are suitable for future and comparative 3D perception and evaluation in this space.
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RAJU, K. RAVI, and O. V. KRISHNAIAH CHETTY. "Design and evaluation of automated guided vehicle systems for flexible manufacturing systems: an extended timed Petri net-based approach." International Journal of Production Research 31, no. 5 (May 1993): 1069–96. http://dx.doi.org/10.1080/00207549308956776.

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Zheng, Kun, Dunbing Tang, Adriana Giret, Miguel A. Salido, and Zelei Sang. "A hormone regulation–based approach for distributed and on-line scheduling of machines and automated guided vehicles." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 232, no. 1 (August 5, 2016): 99–113. http://dx.doi.org/10.1177/0954405416662078.

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With the continuous innovation of technology, automated guided vehicles are playing an increasingly important role on manufacturing systems. Both the scheduling of operations on machines as well as the scheduling of automated guided vehicles are essential factors contributing to the efficiency of the overall manufacturing systems. In this article, a hormone regulation–based approach for on-line scheduling of machines and automated guided vehicles within a distributed system is proposed. In a real-time environment, the proposed approach assigns emergent tasks and generates feasible schedules implementing a task allocation approach based on hormonal regulation mechanism. This approach is tested on two scheduling problems in literatures. The results from the evaluation show that the proposed approach improves the scheduling quality compared with state-of-the-art on-line and off-line approaches.
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Nai Chieh, Wei, and Lin Hsiao Kang. "Evaluation of automated guided vehicle systems in thin film transistor liquid crystal display (TFT-LCD) Array manufacturing process." Scientific Research and Essays 7, no. 41 (October 27, 2012): 3542–48. http://dx.doi.org/10.5897/sre11.1991.

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Wolter, Stefan, Giancarlo Caccia Dominioni, Sebastian Hergeth, Fabio Tango, Stuart Whitehouse, and Frederik Naujoks. "Human–Vehicle Integration in the Code of Practice for Automated Driving." Information 11, no. 6 (May 27, 2020): 284. http://dx.doi.org/10.3390/info11060284.

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The advancement of SAE Level 3 automated driving systems requires best practices to guide the development process. In the past, the Code of Practice for the Design and Evaluation of ADAS served this role for SAE Level 1 and 2 systems. The challenges of Level 3 automation make it necessary to create a new Code of Practice for automated driving (CoP-AD) as part of the public-funded European project L3Pilot. It provides the developer with a comprehensive guideline on how to design and test automated driving functions, with a focus on highway driving and parking. A variety of areas such as Functional Safety, Cybersecurity, Ethics, and finally the Human–Vehicle Integration are part of it. This paper focuses on the latter, the Human Factors aspects addressed in the CoP-AD. The process of gathering the topics for this category is outlined in the body of the paper. Thorough literature reviews and workshops were part of it. A summary is given on the draft content of the CoP-AD Human–Vehicle Integration topics. This includes general Human Factors related guidelines as well as Mode Awareness, Trust, and Misuse. Driver Monitoring is highlighted as well, together with the topic of Controllability and the execution of Customer Clinics. Furthermore, the Training and Variability of Users is included. Finally, the application of the CoP-AD in the development process for Human-Vehicle Integration is illustrated.
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Foit, Krzysztof, Grzegorz Gołda, and Adrian Kampa. "Integration and Evaluation of Intra-Logistics Processes in Flexible Production Systems Based on OEE Metrics, with the Use of Computer Modelling and Simulation of AGVs." Processes 8, no. 12 (December 14, 2020): 1648. http://dx.doi.org/10.3390/pr8121648.

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The article presents the problems connected with the performance evaluation of a flexible production system in the context of designing and integrating production and logistics subsystems. The goal of the performed analysis was to determine the parameters that have the most significant influence on the productivity of the whole system. The possibilities of using automated machine tools, automatic transport vehicles, as well as automated storage systems were pointed out. Moreover, the exemplary models are described, and the framework of simulation research related to the conceptual design of new production systems are indicated. In order to evaluate the system’s productivity, the use of Overall Equipment Efficiency (OEE) metrics was proposed, which is typically used for stationary resources such as machines. This paper aims to prove the hypothesis that the OEE metric can also be used for transport facilities such as Automated Guided Vehicles (AGVs). The developed models include the parameters regarding availability and failure of AGVs as well as production efficiency and quality, which allows the more accurate mapping of manufacturing processes. As the result, the Overall Factory Efficiency (OFE) and Overall Transport Efficiency (OTE) metrics were obtained. The obtained outcomes can be directly related to similar production systems that belong to World Class Manufacturing (WCM) or World Class Logistics (WCL), leading to the in-depth planning of such systems and their further improvement in the context of the Industry 4.0.
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Fazlollahtabar, Hamed, and Seyed Taghi Akhavan Niaki. "Integration of fault tree analysis, reliability block diagram and hazard decision tree for industrial robot reliability evaluation." Industrial Robot: An International Journal 44, no. 6 (October 16, 2017): 754–64. http://dx.doi.org/10.1108/ir-06-2017-0103.

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Purpose This paper aims to conduct a comprehensive fault tree analysis (FTA) on the critical components of industrial robots. This analysis is integrated with the reliability block diagram (RBD) approach to investigate the robot system reliability. Design/methodology/approach For practical implementation, a particular autonomous guided vehicle (AGV) system was first modeled. Then, FTA was adopted to model the causes of failures, enabling the probability of success to be determined. In addition, RBD was used to simplify the complex system of the AGV for reliability evaluation purpose. Findings Hazard decision tree (HDT) was configured to compute the hazards of each component and the whole AGV robot system. Through this research, a promising technical approach was established, allowing decision-makers to identify the critical components of AGVs along with their crucial hazard phases at the design stage. Originality/value As complex systems have become global and essential in today’s society, their reliable design and determination of their availability have turned into very important tasks for managers and engineers. Industrial robots are examples of these complex systems that are being increasingly used for intelligent transportation, production and distribution of materials in warehouses and automated production lines.
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Nantogma, Sulemana, Keyu Pan, Weilong Song, Renwei Luo, and Yang Xu. "Towards Realizing Intelligent Coordinated Controllers for Multi-USV Systems Using Abstract Training Environments." Journal of Marine Science and Engineering 9, no. 6 (May 22, 2021): 560. http://dx.doi.org/10.3390/jmse9060560.

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Unmanned autonomous vehicles for various civilian and military applications have become a particularly interesting research area. Despite their many potential applications, a related technological challenge is realizing realistic coordinated autonomous control and decision making in complex and multi-agent environments. Machine learning approaches have been largely employed in simplified simulations to acquire intelligent control systems in multi-agent settings. However, the complexity of the physical environment, unrealistic assumptions, and lack of abstract physical environments derail the process of transition from simulation to real systems. This work presents a modular framework for automated data acquisition, training, and the evaluation of multiple unmanned surface vehicles controllers that facilitate prior knowledge integration and human-guided learning in a closed-loop. To realize this, we first present a digital maritime environment of multiple unmanned surface vehicles that abstracts the real-world dynamics in our application domain. Then, a behavior-driven artificial immune-inspired fuzzy classifier systems approach that is capable of optimizing agents’ behaviors and action selection in a multi-agent environment is presented. Evaluation scenarios of different combat missions are presented to demonstrate the performance of the system. Simulation results show that the resulting controllers can achieved an average wining rate between 52% and 98% in all test cases, indicating the effectiveness of the proposed approach and its feasibility in realizing adaptive controllers for efficient multiple unmanned systems’ cooperative decision making. We believe that this system can facilitate the simulation, data acquisition, training, and evaluation of practical cooperative unmanned vehicles’ controllers in a closed-loop.
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Dissertations / Theses on the topic "Automated guided vehicle systems – Evaluation"

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Persson, Olof, and Patrik Kosowski. "Development and evaluation of dispatching strategies for the IPSI™ AGV system." Thesis, Blekinge Tekniska Högskola, Avdelningen för programvarusystem, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-1692.

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Container Terminals are experiencing increased pressure to raise their productivity levels and capacity, in order to handle the increasing amounts of container cargo due to globalization. Due to space restrictions and other financial factors, automated solutions have been developed. AGVs (Automated Guided Vehicles) are one of those automated solutions for the horizontal transportation with in a Container Terminal. A recent European sponsored project has lead to the development of a new generation of AGVs that are using cassettes namely IPSI™ AGVs. An agent-based simulator has been developed with the purpose of constructing and evaluating dispatching strategies for this new developed AGV system. Already explored dispatching strategies [9, 14] are used with additional modifications to re-evaluate them with the consideration of the usage of cassettes. Our findings from the simulation experiment are suggesting that a cost estimation based approach is much more suited than an inventory based. In addition to that, the results are very convincing in that the number of cassettes used is the most dominate factor despite dispatching strategy for obtaining a fast ship turnaround time.
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Fithian, Jeff E. "A laser-guided, autonomous automated guided vehicle." Thesis, Virginia Tech, 1993. http://hdl.handle.net/10919/42957.

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The purpose of this research was to determine the feasibility of a laser-based positioning system as a primary navigation method. The system developed for this research consisted of an automated guided vehicle which navigated solely with the use of the laser-based positioning system in real-time. To date, there are no systems which can navigate a pre-defined path using such a positioning system. Some lessons were learned by the researcher, however, concerning the viability of this system in an industrial environment. The system should have had the following advantages over previous systems: 1) Greater range, 2) no prior structuring of environment, 3) real-time navigation, and 4) no reliance on dead-reckoning for navigation.

The results showed that goals two through four had been met and are advantages of this system over current systems. The range of this system is limited, however, but it is believed that the next generation system should have greater range than the system used in this research.


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Dutt, Subir. "Guided vehicle systems : a simulation analysis /." Master's thesis, This resource online, 1991. http://scholar.lib.vt.edu/theses/available/etd-01122010-020040/.

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Uttendorf, Sarah [Verfasser]. "Automated Generation of Roadmaps for Automated Guided Vehicle Systems / Sarah Uttendorf." Garbsen : TEWISS - Technik und Wissen GmbH, 2019. http://d-nb.info/1193515491/34.

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Baxter, Jeremy. "Fuzzy logic control of an automated guided vehicle." Thesis, Durham University, 1994. http://etheses.dur.ac.uk/5817/.

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This thesis describes the fuzzy logic based control system for an automated guided vehicle ( AGV ) designed to navigate from one position and orientation to another while avoiding obstacles. A vehicle with an onboard computer system and a beacon based location system has been used to provide experimental confirmation of the methods proposed during this research. A simulation package has been written and used to test control techniques designed for the vehicle. A series of navigation rules based upon the vehicle's current position relative to its goal produce a fuzzy fit vector, the entries in which represent the relative importance of sets defined over all the possible output steering angles. This fuzzy fit vector is operated on by a new technique called rule spreading which ensures that all possible outputs have some activation. An obstacle avoidance controller operates from information about obstacles near to the vehicle. A method has been devised for generating obstacle avoidance sets depending on the size, shape and steering mechanism of a vehicle to enable their definition to accurately reflect the geometry and dynamic performance of the vehicle. Using a set of inhibitive rules the obstacle avoidance system compiles a mask vector which indicates the potential for a collision if each one of the possible output sets is chosen. The fuzzy fit vector is multiplied with the mask vector to produce a combined fit vector representing the relative importance of the output sets considering the demands of both navigation and obstacle avoidance. This is operated on by a newly developed windowing technique which prevents any conflicts produced by this combination leading to an undesirable output. The final fit vector is then defuzzified to give a demand steering angle for the vehicle. A separate fuzzy controller produces a demand velocity. In tests carried out in simulation and on the research vehicle it has been shown that the control system provides a successful guidance and obstacle avoidance scheme for an automated vehicle.
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So, Annie Suet-ying. "Effect of control architectures on automated guided vehicle systems." Thesis, Virginia Tech, 1995. http://hdl.handle.net/10919/45055.

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Automated Guided Vehicle Systems (AGVSs) have been widely adopted by many low to medium manufacturing operations, particularly in Flexible Manufacturing Systems (FMS). The high degree of flexibility and control offered in vehicle routing has made AGVS a proven and viable material handling technology in today's manufacturing systems [Bozer91]. An important aspect in maintaining flexibility in an AGVS is its control architecture. A control architecture provides the backbone of the physical and the informational infrastructure of a system. This research has identified three types of control architectures. They are the centralized, hierarchical, and heterarchical control architectures. When designing an AGVS, most designers do not consider control architecture as a design factor, and do not analyze its effect on the system's performance. The objective of this research is to analyze the effect of control architectures on the relative performance of the AGVS. This research uses simulation to study the effect of control architectures on the AGVS. The simulation model for each control architecture contains two parts -- an AGV controller and a shop floor controller. Both models are programmed in C language. The AGV controller consists of three basic components – vehicle scheduling, vehicle routing, and traffic control. Each of these three components is modeled according to the nature and characteristics of the corresponding control architecture. Two different flow path layouts are considered for the shop floor model. The two layouts are different in size and number of work stations. Performance measures chosen for this study are intended to reflect the responsiveness of the system and the overall system performance under the impact of different control architectures.
Master of Science
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Sen, Anirudha. "A study of free ranging automated guided vehicle systems." Thesis, Imperial College London, 1990. http://hdl.handle.net/10044/1/46543.

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Chan, Chi Kit. "An ultrasonic self-localized automated guided vehicle system /." View abstract or full-text, 2006. http://library.ust.hk/cgi/db/thesis.pl?IELM%202006%20CHAN.

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Swanepoel, Petrus Johannes. "Omnidirectional image sensing for automated guided vehicle." Thesis, Bloemfontein : Central University of Technology, Free State, 2009. http://hdl.handle.net/11462/39.

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Thesis (M. Tech.) -- Central University of Technology, Free State, 2009
Automated Guided Vehicles (AGVs) have many different design specifications, although they all have certain design features in common, for instance they are designed to follow predetermined paths, and they need to be aware of their surroundings and changes to their surroundings. They are designed to house sensors for navigation and obstacle avoidance. In this study an AGV platform was developed by modifying an electric wheelchair. A serial port interface was developed between a computer and the control unit of the electric wheelchair, which enables the computer to control the movements of the platform. Different sensors were investigated to determine which would be best suited and most effective to avoid collisions. The sensors chosen were mounted on the AGV and a programme was developed to enable the sensors to assist in avoiding obstacles. An imaging device as an additional sensor system for the AGV was investigated. The image produced by a camera and dome mirror was processed into a panoramic image representing an entire 360o view of the AGV‟s surroundings. The reason for this part of the research was to enable the user to make corrections to the AGV‟s path if it became stuck along the track it was following. The entire system was also made completely wireless to improve the flexibility of the AGV‟s applications.
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Norman, Susan K. "Design of a simulation package for automated guided vehicle systems." Ohio : Ohio University, 1985. http://www.ohiolink.edu/etd/view.cgi?ohiou1184071588.

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Books on the topic "Automated guided vehicle systems – Evaluation"

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Ullrich, Günter. Automated Guided Vehicle Systems. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44814-4.

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Hammond, Gary. AGVS at work: Automated guided vehicle systems. Bedford: IFS, 1986.

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Rachel, Subrin, ed. Automated guided vehicles and automated manufacturing. Dearborn, Mich: Society of Manufacturing Engineers, Publications Development Dept., Marketing Division, 1987.

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Miller, Richard Kendall. Survey on automated guided vehicles systems. Madison, GA: Future Technology Surveys, 1989.

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Gutsche, Ralf. Fahrerlose Transportsysteme: Automatische Bahnplanung in dynamischen Umgebungen. Braunschweig: Vieweg, 1994.

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International, Conference on Automated Guided Vehicle Systems (3rd 1985 Stockholm Sweden). Automated Guided Vehicle Systems: 15-17 October 1985, Stockholm, Sweden. Kempston: IFS (Conferences) Ltd., 1985.

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International Conference on Automated Guided Vehicle Systems (4th 1986 Chicago, Ill.). Proceedings of the 4th International Conference on Automated Guided Vehicle Systems, 24-26 June 1986, Chicago, U.S.A. Bedford: IFS (Conferences), 1986.

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Castleberry, Guy A. The AGV handbook: A handbook for the selection of automated guided vehicle systems. Ann Arbor, Mich: Braun-Brumfield, 1991.

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Castleberry, Guy A. AGV system specification, procurement, and implementation guide: A step-by-step guide to purchasing and installing an automated guided vehicle system. Port Washington: AGV Decisions, 1992.

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Tokyo), International Conference on Automated Guided Vehicle Systems (5th 1987. Proceedings of the 5th international conference on automated guided vehicle systems. Bedford: IFS (Publications), 1987.

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Book chapters on the topic "Automated guided vehicle systems – Evaluation"

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Henesey, Lawrence, Paul Davidsson, and Jan A. Persson. "Evaluation of Automated Guided Vehicle Systems for Container Terminals Using Multi Agent Based Simulation." In Multi-Agent-Based Simulation IX, 85–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01991-3_7.

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Koff, Gary A. "Automated Guided Vehicle Systems." In The Electronics Assembly Handbook, 562–68. Berlin, Heidelberg: Springer Berlin Heidelberg, 1988. http://dx.doi.org/10.1007/978-3-662-13161-9_89.

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Ullrich, Günter. "The History of Automated Guided Vehicle Systems." In Automated Guided Vehicle Systems, 1–14. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44814-4_1.

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Ullrich, Günter. "Modern Areas of Application." In Automated Guided Vehicle Systems, 15–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44814-4_2.

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Ullrich, Günter. "Technological Standards." In Automated Guided Vehicle Systems, 97–163. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44814-4_3.

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Ullrich, Günter. "The Fourth Era." In Automated Guided Vehicle Systems, 165–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44814-4_4.

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Ullrich, Günter. "Interdisciplinary Design of Automated Guided Vehicle Systems (AGVS)." In Automated Guided Vehicle Systems, 197–227. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44814-4_5.

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Kim, C. W., and J. M. A. Tanchoco. "Bidirectional Automated Guided Vehicle Systems (AGVS)." In Material Flow Systems in Manufacturing, 239–72. Boston, MA: Springer US, 1994. http://dx.doi.org/10.1007/978-1-4615-2498-4_9.

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Rhazzaf, Mohamed, and Tawfik Masrour. "Deep Learning Approach for Automated Guided Vehicle System." In Advances in Intelligent Systems and Computing, 227–37. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-51186-9_16.

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Fanti, Maria Pia. "Deadlock Free Control in Automated Guided Vehicle Systems." In Concurrency in Dependable Computing, 105–26. Boston, MA: Springer US, 2002. http://dx.doi.org/10.1007/978-1-4757-3573-4_6.

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Conference papers on the topic "Automated guided vehicle systems – Evaluation"

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Reith, Karl-Benedikt, Patrick Boden, Martin Daumler, Sebastian Rank, Thorsten Schmidt, and Ralf Hupfer. "Evaluating Automated Guided Vehicle System Characteristics in Semiconductor Fab Automated Material Handling Systems." In 2019 30th Annual SEMI Advanced Semiconductor Manufacturing Conference (ASMC). IEEE, 2019. http://dx.doi.org/10.1109/asmc.2019.8791758.

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Chujo, Taichi, Kosei Nishida, and Tatsushi Nishi. "A Conflict-Free Routing Method for Automated Guided Vehicles Using Reinforcement Learning." In 2020 International Symposium on Flexible Automation. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/isfa2020-9620.

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Abstract In a modern large-scale fabrication, hundreds of vehicles are used for transportation. Since traffic conditions are changing rapidly, the routing of automated guided vehicles (AGV) needs to be changed according to the change in traffic conditions. We propose a conflict-free routing method for AGVs using reinforcement learning in dynamic transportation. An advantage of the proposed method is that a change in the state can be obtained as an evaluation function. Therefore, the action can be selected according to the states. A deadlock avoidance method in bidirectional transport systems is developed using reinforcement learning. The effectiveness of the proposed method is demonstrated by comparing the performance with the conventional Q learning algorithm from computational results.
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Bore, Dipak, Amit Rana, Nilima Kolhare, and Ulhas Shinde. "Automated Guided Vehicle Using Robot Operating Systems." In 2019 3rd International Conference on Trends in Electronics and Informatics (ICOEI). IEEE, 2019. http://dx.doi.org/10.1109/icoei.2019.8862716.

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Lothar Schulze. "The Approach of Automated Guided Vehicle Systems." In 2006 IEEE International Conference on Service Operations and Logistics, and Informatics. IEEE, 2006. http://dx.doi.org/10.1109/soli.2006.236834.

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Schulze, Lothar, and Alexander Wullner. "The Approach of Automated Guided Vehicle Systems." In 2006 IEEE International Conference on Service Operations and Logistics, and Informatics. IEEE, 2006. http://dx.doi.org/10.1109/soli.2006.328941.

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Sankari, J., and R. Imtiaz. "Automated guided vehicle(AGV) for industrial sector." In 2016 10th International Conference on Intelligent Systems and Control (ISCO). IEEE, 2016. http://dx.doi.org/10.1109/isco.2016.7726962.

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Yan, Rundong, Sarah Dunnett, and Lisa Jackson. "Maintenance Modelling of Complex Automated Guided Vehicle Systems." In 2019 Annual Reliability and Maintainability Symposium (RAMS). IEEE, 2019. http://dx.doi.org/10.1109/rams.2019.8769020.

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Qu, Yizhi, Lingxi Li, Yaobin Chen, and Yaping Dai. "Event sequence reconstruction in automated guided vehicle systems." In 2010 IEEE International Conference on Vehicular Electronics and Safety (ICVES 2010). IEEE, 2010. http://dx.doi.org/10.1109/icves.2010.5550933.

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Zhaowei Miao, Guojun Ji, Rui Qiang, and Fan Wang. "The automated guided vehicle problem in logistics operations." In 2008 International Conference on Service Systems and Service Management (ICSSSM 2008). IEEE, 2008. http://dx.doi.org/10.1109/icsssm.2008.4598470.

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Kar, Aniket K., Narendra K. Dhar, S. S. Farhad Nawaz, Rashi Chandola, and Nishchal K. Verma. "Automated guided vehicle navigation with obstacle avoidance in normal and guided environments." In 2016 11th International Conference on Industrial and Information Systems (ICIIS). IEEE, 2016. http://dx.doi.org/10.1109/iciinfs.2016.8262911.

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