Automation Kiva

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    COORDINATING HUNDREDS

    OF COOPERATIVE,

    AUTONOMOUS VEHICLES INA WAREHOUSE

    Dev Bahadur Poudel

    Automation and Control Seminar

    Jacobs University

    Bremen

    Friday, August

    23, 2013

    Automation and Control Seminar 1

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    Structure of Presentation

    Friday, August 23, 2013Automation and Control Seminar

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    Overview on Multi-Agent System

    Multi Agent System in Warehouse

    Kiva System in Warehouse

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    Autonomous Robot

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    Robots that can perform desired task in

    unstructured environment without human

    guidance.

    Have some degree of autonomy

    Have control over their internal state and their

    behavior

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    Agents

    Friday, August 23, 2013Automation and Control Seminar

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    Computer system that is capable of

    independent(autonomous) action to satisfy

    design objectives

    Problem Solving entities

    Situated in a particular environment (input

    environment through sensors and act on

    environment through effectors)

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    Multi-Agent System

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    Agent Oriented Approach to solve Complex

    Problem

    Consist of a number of agents interacting with

    each other to accomplish the goal in acommon environment

    Problem are decentralized to different agents

    Decomposition of Knowledge and Expertise Distributed Intelligence

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    Why and Where Multi-agents

    Systems?

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    Decentralization of Problems and Knowledge

    For Complex Control Systems

    Increase the productivity and decrease the

    cost Reliability, Robust

    Military Network-centric Operations

    Search and Rescue Transportation and Logistics

    Now days used in Warehouse to increase theefficiency

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    Traditional Automation in

    Warehouse

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    Pickers(human) move around the Warehouse

    Fetch products and return them to packing

    station

    Human have to look for the order items

    Order items in Conveyors

    Batch Processing

    Time consuming

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    Modern Automation in

    Warehouse

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    Orders item come in hand of picker like a

    MAGIC!

    Use of Autonomous agents

    Agents search the order fetch to the human

    Agents co-ordinate to achieve a system goal

    Many orders can be fulfilled

    Increases Productivity

    Kiva System

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    Kiva System

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    State-of-the art for modern automation in

    warehouse

    Founded on better approach for order fulfillment

    (goods to customers) Uses Hundreds of autonomous mobile robots

    Sophisticated control Software

    Uses the concept of Distributed Intelligence Founded in 2003 (Mick Mountz )

    Fielded in 2006

    Implements Distributed Intelligence

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    Resources

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    Inventory ( with dimensions and frequency)

    Inventory Pods (pods can visit one or multiple

    stations)

    Bins (pods can have 1-1000 bins)

    Order Pods

    Parking space for pods

    Robots

    Picking Stations

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    MAS Architecture in

    Warehouse(Kiva)

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    Job Manager

    Inventory Station Drive Unit

    Agent 1

    Agent 2Agent 3

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    Drive Unit Agent

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    Mobile Robots

    Fetch the Inventory pod to the picking station

    Take the Order pods to the shipping station

    Transport the Inventory Pod to replenishment

    Path Planning

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    Inventory Station Agent(ISA)

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    Picking stations : Workers pick items

    Replenishment stations: barcodes are

    scanned and appropriate pod come to the

    station

    Report accomplishment of its tasks.

    Equipped with computer that pick lights,

    barcode scanners, laser pointers used toidentify the pick and put locations

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    Job Manager

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    Central Server System

    Resource Allocation

    Communicate with Warehouse Management

    System

    Receives customer orders that need to be

    fulfilled

    Assigns drives, pods, and stations to carry outthe tasks.

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    Kiva Robots and Pods

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    Kiva working Mechanism

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    JM receives orders and assign to stations to

    fulfill

    Robot(Drive Unit) carries the inventory pods

    Inventory pods come to picking stations

    Picking: Workers pick items and put in order

    pod

    Shipping : Order pod move for shipping afterfulfilling all the orders

    Replenishment : Inventory pods go for

    replenishment

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    Order fetch Configuration

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    Path Planning

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    Optimization of the path to fetch order from

    storage to the station

    A* Algorithm

    Travelling Salesman Problem

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    Resource Allocation Challenges

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    Objective: Optimizing the system(keep the

    workers busy minimizing the robots and pods

    used)

    Which order to assign to which robot?

    Which pod to pick up?

    Where to keep the pod after order is fulfilled?

    Which pod to send for replenishment?

    Optimization(make all the robots and stations

    busy)

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    Heuristic Technique for

    Optimization

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    Order Allocation

    1.Time to fulfill the order must be minimized

    2. Inventories around the station and in

    queue pods must be considered

    Inventory Pod Selection

    1.Nearer pods

    2. Multiple items to be picked in one visit

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    Resource Allocation

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    Pod Storage Allocation:

    1.Slow frequency pods kept backward

    2.high frequency pods are kept nearer

    Robot Allocation:

    1.Pick More pods using less Robots

    2.Decrease the Queue in stations

    Replenishment Allocation:

    1.Maximize the cubic utilization of the pods2.Bin packing Problem

    3.Create faster pods and slower pods

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    Advantages

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    Increase Productivity: double the output

    Lower Cost: lower installation and operational

    costs than traditional warehouse automation

    systems Location free replenishment : items can be

    kept in any pods

    Adaptive storage: Pods are store usingheuristic

    Expandability :Add inventory pods and drive

    units to increase throughput during peak

    season

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    Challenges

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    To the Computer Scientist

    Development of an appropriate high levelsoftware infrastructure/framework to support

    the building of multi-agent systems Efficient Algorithm for Optimization

    Path Planning for robots

    Resource Allocation

    Coordinating Robots

    Dynamic, Stochastic and hence Intractable

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    Kiva in Action

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    Have a Nice Day!

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