Robotics for Intralogistics in Supermarkets and Retail Stores

Series Editor’s Foreword
Preface
Contents
Contributors
1 Robot-Assisted Instore Operations in Grocery Retailing
	1.1 Introduction
	1.2 Characterization of Grocery Supply Networks
	1.3 Instore Logistics Systems and Challenges
		1.3.1 Instore Logistics Processes
		1.3.2 Instore Logistics Costs
		1.3.3 Specifics of Instore Logistics Systems
		1.3.4 Past Developments and Status Quo of Instore Logistics
		1.3.5 Challenges for Instore Automation Approaches
	1.4 Automation Approaches to Support Instore Logistics
		1.4.1 Scenario 1—Store Monitoring
		1.4.2 Scenario 2—Collaborative Instore Logistics
		1.4.3 Scenario 3—Autonomous Shelf Filling
	1.5 Managerial Challenges of Using Professional Service Robots in Retail Stores
	1.6 Conclusion
	References
2 Robots Collecting Data: Modelling Stores
	2.1 Introduction
	2.2 Conceptual Framework and Computational Problem
	2.3 SemDT Data and Knowledge Model
	2.4 Virtual Simulation Environment of the Semantic Digital Twin
	2.5 Semantic Mapping
		2.5.1 Layout Identification
		2.5.2 Store Monitoring
	2.6 Example Store Monitoring System
		2.6.1 Mobile Robotic Platform
		2.6.2 Perception
	2.7 Conclusion
	References
3 Robots Collecting Data: Robust Identification of Products
	3.1 Introduction
	3.2 Related Work
	3.3 Method
		3.3.1 Network Architecture
		3.3.2 Triplet Loss
		3.3.3 Triplet Mining
		3.3.4 Training
	3.4 Datasets
		3.4.1 Synthetic Dataset
		3.4.2 Real World Dataset
		3.4.3 Test Dataset
		3.4.4 Omniglot
	3.5 Experiments
		3.5.1 Evaluation Metric
		3.5.2 Selection of Embedding Size
		3.5.3 Results
		3.5.4 Performance on Neural Compute Stick 2
	3.6 Conclusion
	References
4 Robots Working in the Backroom: Depalletization of Mixed-Case Pallets
	4.1 Introduction
	4.2 Gripper
		4.2.1 Mechanical Structure
		4.2.2 Sensors and Actuators
		4.2.3 Grasping Procedure
	4.3 Detection, Recognition and Localization
		4.3.1 The Cases Database
		4.3.2 The Detection Module
		4.3.3 The Geometrical Module
	4.4 Integrated Cell
		4.4.1 Cell Design
		4.4.2 Executive System
		4.4.3 Selection and Grasping
	4.5 Experiments
		4.5.1 Quantitative Analysis
		4.5.2 Real Supermarket Scenario
	4.6 Conclusion
	References
5 Robots Helping Humans: Collaborative Shelf Refilling
	5.1 Introduction
	5.2 Handling Module
	5.3 Methodology
		5.3.1 Procedure
		5.3.2 Ergonomic Indices
	5.4 Simulations and Ergonomic Handling Module (EHM)
		5.4.1 Simulation Setup
		5.4.2 Data Collection
		5.4.3 Data Processing
	5.5 Experiments
		5.5.1 Experimental Setup and Protocol
		5.5.2 Experimental Data Collection
		5.5.3 Validation of the Virtual Simulations
		5.5.4 Validation of the Ergonomic Indices
	5.6 Conclusions
	References
6 Robotic Clerks: Autonomous Shelf Refilling
	6.1 Introduction
	6.2 Software Architecture for Autonomous Shelf Refilling
	6.3 The Sensorized Gripper
		6.3.1 Tactile Sensor Electronics
		6.3.2 Tactile Sensor Mechanics
		6.3.3 Sensor Calibration
	6.4 Reactive Control System
		6.4.1 Grasp Control
		6.4.2 Visual Servoing
	6.5 Plan Language for In-Store Manipulation Activities
		6.5.1 Library of Generalized Fetch and Deliver Plans for In-Store Manipulation
		6.5.2 Integration of the Reactive Controller
	6.6 Experience-Based Learning and Optimization of Manipulation Activities
		6.6.1 Learning Pipeline
		6.6.2 Generating Episodic Memories within a Simulator
		6.6.3 Learning from Episodic Memories
	6.7 Experiments
		6.7.1 Replenishment Experiments
		6.7.2 Evaluation of Learning Pipeline
	6.8 Conclusions
	References