Autonomous transport vehicles: Where we are and what is missing

Henrik Andreasson, Abdelbaki Bouguerra, Marcello Cirillo, Dimitar Nikolaev Dimitrov, Dimiter Driankov, Lars Karlsson, Achim J. Lilienthal, Federico Pecora, Jari Pekka Saarinen, Aleksander Sherikov, Todor Stoyanov

Research output: Contribution to journalArticleScientificpeer-review

48 Citations (Scopus)


In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.

Original languageEnglish
Pages (from-to)34-75
Number of pages42
Issue number1
Publication statusPublished - 1 Mar 2015
MoE publication typeA1 Journal article-refereed


  • Intelligent vehicles
  • Mobile robots
  • Resource management
  • Robot kinematics
  • Trajectory
  • Vehicle dynamics


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