-
Notifications
You must be signed in to change notification settings - Fork 0
/
main.aux
486 lines (486 loc) · 42.6 KB
/
main.aux
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
\relax
\providecommand\babel@aux[2]{}
\@nameuse{bbl@beforestart}
\providecommand\ACRO[1]{}
\providecommand\hyper@newdestlabel[2]{}
\providecommand\HyperFirstAtBeginDocument{\AtBeginDocument}
\HyperFirstAtBeginDocument{\ifx\hyper@anchor\@undefined
\global\let\oldcontentsline\contentsline
\gdef\contentsline#1#2#3#4{\oldcontentsline{#1}{#2}{#3}}
\global\let\oldnewlabel\newlabel
\gdef\newlabel#1#2{\newlabelxx{#1}#2}
\gdef\newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
\AtEndDocument{\ifx\hyper@anchor\@undefined
\let\contentsline\oldcontentsline
\let\newlabel\oldnewlabel
\fi}
\fi}
\global\let\hyper@last\relax
\gdef\HyperFirstAtBeginDocument#1{#1}
\providecommand\HyField@AuxAddToFields[1]{}
\providecommand\HyField@AuxAddToCoFields[2]{}
\providecommand \oddpage@label [2]{}
\@writefile{toc}{\acswitchoff }
\@writefile{lof}{\acswitchoff }
\@writefile{lot}{\acswitchoff }
\babel@aux{english}{}
\citation{R1}
\citation{R2}
\citation{R6}
\citation{R46}
\citation{R9}
\citation{R28}
\citation{R28}
\citation{R19}
\citation{R16}
\citation{R17}
\citation{R26}
\citation{R37}
\citation{R39}
\citation{R41}
\citation{R42}
\citation{R28}
\citation{R28}
\citation{R30}
\citation{R29}
\@writefile{toc}{\contentsline {chapter}{General Introduction}{1}{chapter*.5}\protected@file@percent }
\@writefile{toc}{\contentsline {chapter}{\numberline {1}Host company and Project context}{4}{chapter.1}\protected@file@percent }
\@writefile{lof}{\addvspace {10\p@ }}
\@writefile{lot}{\addvspace {10\p@ }}
\@writefile{lor}{\addvspace {10\p@ }}
\@writefile{loa}{\addvspace {10\p@ }}
\@writefile{toc}{\contentsline {section}{\numberline {1}Host company: STILL GmbH}{4}{section.1.1}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {1.1}KION Group and STILL GmbH}{4}{subsection.1.1.1}\protected@file@percent }
\citation{R1}
\citation{R1}
\@writefile{lof}{\contentsline {figure}{\numberline {1.1}{\ignorespaces KION segment services and companies \cite {R1}\relax }}{5}{figure.caption.7}\protected@file@percent }
\providecommand*\caption@xref[2]{\@setref\relax\@undefined{#1}}
\newlabel{KION Segments}{{1.1}{5}{KION segment services and companies \cite {R1}\relax }{figure.caption.7}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.2}KION Management Hierarchy}{5}{subsection.1.1.2}\protected@file@percent }
\citation{R3}
\citation{R2}
\citation{R2}
\citation{R4}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.3}STILL Products}{6}{subsection.1.1.3}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {1.2}{\ignorespaces KION Executive Board responsibilities as of 01.2024 \cite {R2}\relax }}{6}{figure.caption.8}\protected@file@percent }
\newlabel{KION Hierarchy}{{1.2}{6}{KION Executive Board responsibilities as of 01.2024 \cite {R2}\relax }{figure.caption.8}{}}
\citation{R6}
\citation{R6}
\@writefile{lof}{\contentsline {figure}{\numberline {1.3}{\ignorespaces STILL reach truck\relax }}{7}{figure.caption.9}\protected@file@percent }
\newlabel{Reach trucks}{{1.3}{7}{STILL reach truck\relax }{figure.caption.9}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.4}{\ignorespaces STILL hand truck\relax }}{7}{figure.caption.9}\protected@file@percent }
\newlabel{hand truck}{{1.4}{7}{STILL hand truck\relax }{figure.caption.9}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.5}{\ignorespaces STILL rider truck\relax }}{7}{figure.caption.10}\protected@file@percent }
\newlabel{double-}{{1.5}{7}{STILL rider truck\relax }{figure.caption.10}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.6}{\ignorespaces STILL Autonomous order picker\relax }}{7}{figure.caption.10}\protected@file@percent }
\newlabel{iGoNeo}{{1.6}{7}{STILL Autonomous order picker\relax }{figure.caption.10}{}}
\@writefile{toc}{\contentsline {section}{\numberline {2}Work Structure and Methodology}{8}{section.1.2}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {1.7}{\ignorespaces Agile Scrum Process \cite {R6}\relax }}{8}{figure.caption.11}\protected@file@percent }
\newlabel{Agile Scrum Process}{{1.7}{8}{Agile Scrum Process \cite {R6}\relax }{figure.caption.11}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Agile Scrum Framework}{8}{subsection.1.2.1}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Version Management}{9}{subsection.1.2.2}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {2.3}Communication and Collaboration}{9}{subsection.1.2.3}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {2.4}Project Timeline}{9}{subsection.1.2.4}\protected@file@percent }
\@writefile{toc}{\contentsline {section}{\numberline {3}Graduation project Motivation and Problem Statement}{10}{section.1.3}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Motivation}{10}{subsection.1.3.1}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Problem statement}{11}{subsection.1.3.2}\protected@file@percent }
\citation{R5}
\@writefile{lof}{\contentsline {figure}{\numberline {1.8}{\ignorespaces Vehicle Moving towards station 1\relax }}{12}{figure.caption.12}\protected@file@percent }
\newlabel{move}{{1.8}{12}{Vehicle Moving towards station 1\relax }{figure.caption.12}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.9}{\ignorespaces Vehicle arrives at station 1 and ready to execute the task\relax }}{13}{figure.caption.13}\protected@file@percent }
\newlabel{dock}{{1.9}{13}{Vehicle arrives at station 1 and ready to execute the task\relax }{figure.caption.13}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.10}{\ignorespaces Vehicle entered the station waiting for docking the shelf\relax }}{13}{figure.caption.14}\protected@file@percent }
\newlabel{dock_wait}{{1.10}{13}{Vehicle entered the station waiting for docking the shelf\relax }{figure.caption.14}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.11}{\ignorespaces Vehicle docked the shelf\relax }}{14}{figure.caption.15}\protected@file@percent }
\newlabel{dock_done}{{1.11}{14}{Vehicle docked the shelf\relax }{figure.caption.15}{}}
\@writefile{toc}{\contentsline {chapter}{\numberline {2}State of the Art: Optimal path planning for autonomous robots}{16}{chapter.2}\protected@file@percent }
\@writefile{lof}{\addvspace {10\p@ }}
\@writefile{lot}{\addvspace {10\p@ }}
\@writefile{lor}{\addvspace {10\p@ }}
\@writefile{loa}{\addvspace {10\p@ }}
\@writefile{toc}{\contentsline {section}{\numberline {1}Intralogistics Environments}{16}{section.2.1}\protected@file@percent }
\citation{R46}
\citation{R46}
\citation{R7}
\citation{R28}
\citation{R7}
\citation{R7}
\@writefile{lof}{\contentsline {figure}{\numberline {2.1}{\ignorespaces Common Intralogistics Environment Areas \cite {R46}\relax }}{17}{figure.caption.17}\protected@file@percent }
\newlabel{Areas}{{2.1}{17}{Common Intralogistics Environment Areas \cite {R46}\relax }{figure.caption.17}{}}
\@writefile{toc}{\contentsline {section}{\numberline {2}AMRs in Intralogistics Environments}{17}{section.2.2}\protected@file@percent }
\citation{R9}
\citation{R9}
\citation{R7}
\citation{R11}
\citation{R11}
\@writefile{lof}{\contentsline {figure}{\numberline {2.2}{\ignorespaces AMR and AGV behaviors at presence of an obstacle \cite {R9}\relax }}{18}{figure.caption.18}\protected@file@percent }
\newlabel{AMR-VS-AGV}{{2.2}{18}{AMR and AGV behaviors at presence of an obstacle \cite {R9}\relax }{figure.caption.18}{}}
\@writefile{toc}{\contentsline {section}{\numberline {3}Path Planning}{18}{section.2.3}\protected@file@percent }
\citation{R7}
\citation{R7}
\citation{R7}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Path Planning for autonomous robots: Opportunities and challenges}{19}{subsection.2.3.1}\protected@file@percent }
\citation{R10}
\citation{R20}
\citation{R21}
\citation{R28}
\citation{R28}
\citation{R28}
\citation{R28}
\citation{R28}
\@writefile{lof}{\contentsline {figure}{\numberline {2.3}{\ignorespaces Simulation of the robot's perception of surrounding obstacles\relax }}{21}{figure.caption.19}\protected@file@percent }
\newlabel{scamSim}{{2.3}{21}{Simulation of the robot's perception of surrounding obstacles\relax }{figure.caption.19}{}}
\citation{R23}
\citation{R23}
\@writefile{lof}{\contentsline {figure}{\numberline {2.4}{\ignorespaces Model of a local minima problem due to limited sensor output \cite {R28}\relax }}{22}{figure.caption.20}\protected@file@percent }
\newlabel{local_minima}{{2.4}{22}{Model of a local minima problem due to limited sensor output \cite {R28}\relax }{figure.caption.20}{}}
\citation{R28}
\citation{R28}
\citation{R28}
\citation{R28}
\citation{R28}
\citation{R25}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Near-Field Path Planning}{23}{subsection.2.3.2}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {2.5}{\ignorespaces Clustering Of Near-Field Path Planning Approaches \cite {R28}\relax }}{23}{figure.caption.21}\protected@file@percent }
\newlabel{cluster}{{2.5}{23}{Clustering Of Near-Field Path Planning Approaches \cite {R28}\relax }{figure.caption.21}{}}
\citation{R28}
\citation{R19}
\@writefile{lof}{\contentsline {figure}{\numberline {2.6}{\ignorespaces Bug Algorithm Path Solution to navigate from Start to Goal while avoiding the obstacle\relax }}{24}{figure.caption.22}\protected@file@percent }
\newlabel{Bug_Algo}{{2.6}{24}{Bug Algorithm Path Solution to navigate from Start to Goal while avoiding the obstacle\relax }{figure.caption.22}{}}
\citation{R28}
\citation{R19}
\citation{R19}
\citation{R28}
\@writefile{lof}{\contentsline {figure}{\numberline {2.7}{\ignorespaces Flowchart of the DWA \cite {R19}\relax }}{26}{figure.caption.23}\protected@file@percent }
\newlabel{flowchart of the DWA}{{2.7}{26}{Flowchart of the DWA \cite {R19}\relax }{figure.caption.23}{}}
\citation{R47}
\citation{R16}
\citation{R16}
\citation{R12}
\@writefile{lof}{\contentsline {figure}{\numberline {2.8}{\ignorespaces RRT ran on a non-holonomic robot using 1, 4, then 32-core processors \cite {R16}\relax }}{28}{figure.caption.24}\protected@file@percent }
\newlabel{sampling-based}{{2.8}{28}{RRT ran on a non-holonomic robot using 1, 4, then 32-core processors \cite {R16}\relax }{figure.caption.24}{}}
\citation{R12}
\citation{R17}
\citation{R17}
\citation{R17}
\citation{R26}
\citation{R26}
\citation{R26}
\@writefile{lof}{\contentsline {figure}{\numberline {2.9}{\ignorespaces Simple obstacle environment \relax }}{30}{figure.caption.25}\protected@file@percent }
\newlabel{Simple obstacle environment}{{2.9}{30}{Simple obstacle environment \relax }{figure.caption.25}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {2.10}{\ignorespaces Intermediate obstacle environment\relax }}{30}{figure.caption.25}\protected@file@percent }
\newlabel{Intermediate obstacle environment}{{2.10}{30}{Intermediate obstacle environment\relax }{figure.caption.25}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {2.11}{\ignorespaces Complex obstacle environment\relax }}{30}{figure.caption.25}\protected@file@percent }
\newlabel{Complex obstacle environment}{{2.11}{30}{Complex obstacle environment\relax }{figure.caption.25}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {2.12}{\ignorespaces GA Test scenarios \cite {R17}\relax }}{30}{figure.caption.25}\protected@file@percent }
\newlabel{R17 test scenarios}{{2.12}{30}{GA Test scenarios \cite {R17}\relax }{figure.caption.25}{}}
\citation{R20}
\citation{R25}
\@writefile{lof}{\contentsline {figure}{\numberline {2.13}{\ignorespaces Application of classic and heuristic approaches in MP \cite {R26} \newline \textbf {Dark gray:} Classic approaches \newline \textbf {Light gray:} Heuristic approaches \relax }}{31}{figure.caption.26}\protected@file@percent }
\newlabel{heuristic barchart}{{2.13}{31}{Application of classic and heuristic approaches in MP \cite {R26} \newline \textbf {Dark gray:} Classic approaches \newline \textbf {Light gray:} Heuristic approaches \relax }{figure.caption.26}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.3}Discussion: Selection of the Path Planning Method}{31}{subsection.2.3.3}\protected@file@percent }
\citation{R37}
\citation{R7}
\citation{R12}
\citation{R12}
\citation{R7}
\citation{R17}
\citation{R37}
\@writefile{toc}{\contentsline {section}{\numberline {4}Heuristic Approaches}{32}{section.2.4}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {4.1}Optimization Techniques}{32}{subsection.2.4.1}\protected@file@percent }
\citation{R37}
\citation{R37}
\citation{R37}
\@writefile{lof}{\contentsline {figure}{\numberline {2.14}{\ignorespaces Tree of Meta-Heuristic Algorithms \cite {R37}\relax }}{33}{figure.caption.27}\protected@file@percent }
\newlabel{Tree}{{2.14}{33}{Tree of Meta-Heuristic Algorithms \cite {R37}\relax }{figure.caption.27}{}}
\citation{R39}
\citation{R39}
\citation{R17}
\@writefile{lof}{\contentsline {figure}{\numberline {2.15}{\ignorespaces Flowchart of the GA \cite {R39}\relax }}{34}{figure.caption.28}\protected@file@percent }
\newlabel{GA}{{2.15}{34}{Flowchart of the GA \cite {R39}\relax }{figure.caption.28}{}}
\citation{R38}
\citation{R40}
\citation{R41}
\citation{R41}
\@writefile{lof}{\contentsline {figure}{\numberline {2.16}{\ignorespaces Flowchart of the SA \cite {R41}\relax }}{35}{figure.caption.29}\protected@file@percent }
\newlabel{SA}{{2.16}{35}{Flowchart of the SA \cite {R41}\relax }{figure.caption.29}{}}
\citation{R42}
\citation{R42}
\citation{R43}
\citation{R37}
\citation{R43}
\@writefile{lof}{\contentsline {figure}{\numberline {2.17}{\ignorespaces Particle Swarm Optimization \cite {R42}\relax }}{36}{figure.caption.30}\protected@file@percent }
\newlabel{pso}{{2.17}{36}{Particle Swarm Optimization \cite {R42}\relax }{figure.caption.30}{}}
\@writefile{toc}{\contentsline {section}{\numberline {5}Synthesis and Discussion}{39}{section.2.5}\protected@file@percent }
\@writefile{toc}{\contentsline {section}{\numberline {6}Adopted Path Planning and Optimization Methods}{40}{section.2.6}\protected@file@percent }
\citation{R44}
\@writefile{toc}{\contentsline {chapter}{\numberline {3}Design and Development of the Proposed Solution }{44}{chapter.3}\protected@file@percent }
\@writefile{lof}{\addvspace {10\p@ }}
\@writefile{lot}{\addvspace {10\p@ }}
\@writefile{lor}{\addvspace {10\p@ }}
\@writefile{loa}{\addvspace {10\p@ }}
\@writefile{toc}{\contentsline {section}{\numberline {1}Conceptual Framework}{44}{section.3.1}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {1.1}Goal Setting}{44}{subsection.3.1.1}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {1.2}Design of the Development Methodology}{45}{subsection.3.1.2}\protected@file@percent }
\@writefile{toc}{\contentsline {section}{\numberline {2}Methodology and Design of the Solution}{47}{section.3.2}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {3.1}{\ignorespaces The Possible Parking Styles that a driver can follow\relax }}{47}{figure.caption.32}\protected@file@percent }
\newlabel{Parking_Styles}{{3.1}{47}{The Possible Parking Styles that a driver can follow\relax }{figure.caption.32}{}}
\citation{R28}
\citation{R28}
\@writefile{lof}{\contentsline {figure}{\numberline {3.2}{\ignorespaces Design of Linking the robot to goal destination \cite {R28}\relax }}{48}{figure.caption.33}\protected@file@percent }
\newlabel{pattern}{{3.2}{48}{Design of Linking the robot to goal destination \cite {R28}\relax }{figure.caption.33}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {3.3}{\ignorespaces Truck Driving Directions\relax }}{49}{figure.caption.34}\protected@file@percent }
\newlabel{driving directions}{{3.3}{49}{Truck Driving Directions\relax }{figure.caption.34}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {3.4}{\ignorespaces Milestones of the Path planning approach to pallet docking from Step1 to Step4\relax }}{50}{figure.caption.35}\protected@file@percent }
\newlabel{design}{{3.4}{50}{Milestones of the Path planning approach to pallet docking from Step1 to Step4\relax }{figure.caption.35}{}}
\@writefile{toc}{\contentsline {section}{\numberline {3}Development phases and Implementation}{50}{section.3.3}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Geometric Partitioning of the Station}{50}{subsection.3.3.1}\protected@file@percent }
\citation{R28}
\citation{R28}
\@writefile{lof}{\contentsline {figure}{\numberline {3.5}{\ignorespaces Step1: Station Partitioning for Linking the robot to goal pallet \cite {R28}\relax }}{51}{figure.caption.36}\protected@file@percent }
\newlabel{subpolygons}{{3.5}{51}{Step1: Station Partitioning for Linking the robot to goal pallet \cite {R28}\relax }{figure.caption.36}{}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.1.1}Implementation of the Station Partitioning}{51}{subsubsection.3.3.1.1}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {3.6}{\ignorespaces Station Simulation with added Station, Shelf, and Global (World) frames\relax }}{52}{figure.caption.37}\protected@file@percent }
\newlabel{Station}{{3.6}{52}{Station Simulation with added Station, Shelf, and Global (World) frames\relax }{figure.caption.37}{}}
\newlabel{shToGlob}{{3.1}{52}{Implementation of the Station Partitioning}{equation.3.3.1}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {3.7}{\ignorespaces Simulation of the stations in a warehouse\relax }}{55}{figure.caption.38}\protected@file@percent }
\newlabel{warehouse}{{3.7}{55}{Simulation of the stations in a warehouse\relax }{figure.caption.38}{}}
\@writefile{loa}{\contentsline {algocf}{\numberline {1}{\ignorespaces Creation of Subpolygons\relax }}{56}{algocf.1}\protected@file@percent }
\newlabel{alg:createSubpolygons}{{1}{56}{Implementation of the Station Partitioning}{algocf.1}{}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.1.2}Results of the Station Partitioning}{56}{subsubsection.3.3.1.2}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {3.8}{\ignorespaces Partitioning: Station divided into subpolygons\relax }}{57}{figure.caption.39}\protected@file@percent }
\newlabel{Station polygon}{{3.8}{57}{Partitioning: Station divided into subpolygons\relax }{figure.caption.39}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Path creation}{57}{subsection.3.3.2}\protected@file@percent }
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.1}Choice of Path Creation Methodology}{57}{subsubsection.3.3.2.1}\protected@file@percent }
\citation{R30}
\citation{R30}
\@writefile{lof}{\contentsline {figure}{\numberline {3.9}{\ignorespaces Step2: Orientation Points creation using the 3 origin path points\relax }}{58}{figure.caption.40}\protected@file@percent }
\newlabel{Orientation}{{3.9}{58}{Step2: Orientation Points creation using the 3 origin path points\relax }{figure.caption.40}{}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.2}Spline Based Paths}{58}{subsubsection.3.3.2.2}\protected@file@percent }
\@writefile{toc}{\contentsline {subsubsubsection}{\numberline {3.2.2.1}Splines Applications in Robotics}{58}{subsubsubsection.3.3.2.2.1}\protected@file@percent }
\citation{R30}
\citation{R30}
\citation{R30}
\citation{R31}
\citation{R31}
\citation{R33}
\citation{R29}
\@writefile{lof}{\contentsline {figure}{\numberline {3.10}{\ignorespaces Morphological difference between a path connecting waypoints (left) and a curved path (right) \cite {R30}\relax }}{59}{figure.caption.41}\protected@file@percent }
\newlabel{paths}{{3.10}{59}{Morphological difference between a path connecting waypoints (left) and a curved path (right) \cite {R30}\relax }{figure.caption.41}{}}
\citation{R29}
\citation{R29}
\citation{R30}
\citation{R30}
\@writefile{lof}{\contentsline {figure}{\numberline {3.11}{\ignorespaces Convex hull contained Spline \cite {R29}\relax }}{60}{figure.caption.42}\protected@file@percent }
\newlabel{convex-hull}{{3.11}{60}{Convex hull contained Spline \cite {R29}\relax }{figure.caption.42}{}}
\citation{R29}
\citation{R29}
\@writefile{toc}{\contentsline {subsubsubsection}{\numberline {3.2.2.2}Splines Mathematical concepts}{61}{subsubsubsection.3.3.2.2.2}\protected@file@percent }
\newlabel{eq:curve}{{3.9}{61}{Splines Mathematical concepts}{equation.3.3.9}{}}
\citation{R28}
\citation{R29}
\citation{R28}
\citation{R28}
\citation{R29}
\newlabel{Bezier curve}{{3.13}{62}{Splines Mathematical concepts}{equation.3.3.13}{}}
\citation{R29}
\citation{R32}
\@writefile{lof}{\contentsline {figure}{\numberline {3.12}{\ignorespaces NURBS spline example. \textbf {Green}: Control points \textbf {Red}: NURBS spline\relax }}{64}{figure.caption.43}\protected@file@percent }
\newlabel{NURBS}{{3.12}{64}{NURBS spline example.\\ \textbf {Green}: Control points\\ \textbf {Red}: NURBS spline\relax }{figure.caption.43}{}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.2.3}Implementation of the Pattern Path Creation Approach}{64}{subsubsection.3.3.2.3}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {3.13}{\ignorespaces Step3: Interpolation of the waypoints and creation of the spline-based paths\relax }}{65}{figure.caption.44}\protected@file@percent }
\newlabel{Spline ori}{{3.13}{65}{Step3: Interpolation of the waypoints and creation of the spline-based paths\relax }{figure.caption.44}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {3.14}{\ignorespaces Robot at the transition position\relax }}{65}{figure.caption.45}\protected@file@percent }
\newlabel{transition}{{3.14}{65}{Robot at the transition position\relax }{figure.caption.45}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {3.15}{\ignorespaces Transformations From the Robot to the Pallet Frame Passing by the Reflector Frame\relax }}{67}{figure.caption.46}\protected@file@percent }
\newlabel{Transformation}{{3.15}{67}{Transformations From the Robot to the Pallet Frame Passing by the Reflector Frame\relax }{figure.caption.46}{}}
\@writefile{loa}{\contentsline {algocf}{\numberline {2}{\ignorespaces Creation of a Spline by Points Interpolation\relax }}{68}{algocf.2}\protected@file@percent }
\newlabel{alg:createSplines}{{2}{68}{Implementation of the Pattern Path Creation Approach}{algocf.2}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.3}Path Evaluation}{68}{subsection.3.3.3}\protected@file@percent }
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.1}Path Evaluation Techniques in Robotics}{68}{subsubsection.3.3.3.1}\protected@file@percent }
\citation{R20}
\citation{R23}
\citation{R34}
\@writefile{toc}{\contentsline {subsubsubsection}{\numberline {3.3.1.1}Core Metrics for Path Evaluation}{69}{subsubsubsection.3.3.3.1.1}\protected@file@percent }
\citation{R23}
\citation{R35}
\citation{R17}
\citation{R17}
\newlabel{kurv}{{3.23}{70}{Core Metrics for Path Evaluation}{equation.3.3.23}{}}
\newlabel{clear}{{3.25}{70}{Core Metrics for Path Evaluation}{equation.3.3.25}{}}
\@writefile{toc}{\contentsline {subsubsubsection}{\numberline {3.3.1.2}Combinations of single metrics}{70}{subsubsubsection.3.3.3.1.2}\protected@file@percent }
\citation{R36}
\citation{R23}
\newlabel{evaluation}{{3.26}{71}{Combinations of single metrics}{equation.3.3.26}{}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.2}Implementation of Path Evaluation Techniques}{71}{subsubsection.3.3.3.2}\protected@file@percent }
\newlabel{length_formula}{{3.27}{72}{Implementation of Path Evaluation Techniques}{equation.3.3.27}{}}
\citation{R17}
\newlabel{curvature_change}{{3.29}{73}{Implementation of Path Evaluation Techniques}{equation.3.3.29}{}}
\citation{R17}
\@writefile{toc}{\contentsline {subsubsubsection}{\numberline {3.3.2.1}First approach: Exponential Weighted Path Evaluation}{74}{subsubsubsection.3.3.3.2.1}\protected@file@percent }
\newlabel{exp_Costfunction}{{3.33}{74}{First approach: Exponential Weighted Path Evaluation}{equation.3.3.33}{}}
\newlabel{exp_function}{{3.36}{75}{First approach: Exponential Weighted Path Evaluation}{equation.3.3.36}{}}
\@writefile{toc}{\contentsline {subsubsubsection}{\numberline {3.3.2.2}Second approach: Normalized Weighted Path Evaluation}{76}{subsubsubsection.3.3.3.2.2}\protected@file@percent }
\newlabel{Norm_function}{{3.37}{76}{Second approach: Normalized Weighted Path Evaluation}{equation.3.3.37}{}}
\@writefile{loa}{\contentsline {algocf}{\numberline {3}{\ignorespaces Path Evaluation Algorithm\relax }}{77}{algocf.3}\protected@file@percent }
\newlabel{EvaluationAlgorithm}{{3}{77}{Second approach: Normalized Weighted Path Evaluation}{algocf.3}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.4}Path Optimization}{78}{subsection.3.3.4}\protected@file@percent }
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.4.1}Implementation}{78}{subsubsection.3.3.4.1}\protected@file@percent }
\@writefile{loa}{\contentsline {algocf}{\numberline {4}{\ignorespaces Generic Optimization Algorithm with Path Evaluation\relax }}{79}{algocf.4}\protected@file@percent }
\newlabel{optimization}{{4}{79}{Implementation}{algocf.4}{}}
\citation{R45}
\@writefile{lof}{\contentsline {figure}{\numberline {3.16}{\ignorespaces Flowchart of the evaluation and evolution of the optimum path process in consideration of constraints\relax }}{81}{figure.caption.47}\protected@file@percent }
\newlabel{Opt_chart}{{3.16}{81}{Flowchart of the evaluation and evolution of the optimum path process in consideration of constraints\relax }{figure.caption.47}{}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.4.2}Obstacle Avoidance in the Pattern Based Approach}{81}{subsubsection.3.3.4.2}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {3.17}{\ignorespaces Simulated Environment of the Station With Obstacles Blocking a Transition side\relax }}{82}{figure.caption.48}\protected@file@percent }
\newlabel{Obstacle}{{3.17}{82}{Simulated Environment of the Station With Obstacles Blocking a Transition side\relax }{figure.caption.48}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {3.18}{\ignorespaces Simulated Environment of the Station with the added waypoints to enhance obstacle avoidance\relax }}{83}{figure.caption.49}\protected@file@percent }
\newlabel{Add_waypoints}{{3.18}{83}{Simulated Environment of the Station with the added waypoints to enhance obstacle avoidance\relax }{figure.caption.49}{}}
\@writefile{toc}{\contentsline {chapter}{\numberline {4}Test and Validation of the Proposed Solution}{85}{chapter.4}\protected@file@percent }
\@writefile{lof}{\addvspace {10\p@ }}
\@writefile{lot}{\addvspace {10\p@ }}
\@writefile{lor}{\addvspace {10\p@ }}
\@writefile{loa}{\addvspace {10\p@ }}
\@writefile{toc}{\contentsline {section}{\numberline {1}Path Creation Test Results and Validation}{86}{section.4.1}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {4.1}{\ignorespaces Test Results on Cloned Test Environment\relax }}{87}{figure.caption.51}\protected@file@percent }
\newlabel{Test_clone}{{4.1}{87}{Test Results on Cloned Test Environment\relax }{figure.caption.51}{}}
\newlabel{fig:start}{{4.2a}{87}{Test Results on the Simulated Environment: Truck at the start position\relax }{figure.caption.52}{}}
\newlabel{sub@fig:start}{{a}{87}{Test Results on the Simulated Environment: Truck at the start position\relax }{figure.caption.52}{}}
\newlabel{fig:spline}{{4.2b}{87}{Test Results on the Simulated Environment: Truck driving the Spline-based Pattern path\relax }{figure.caption.52}{}}
\newlabel{sub@fig:spline}{{b}{87}{Test Results on the Simulated Environment: Truck driving the Spline-based Pattern path\relax }{figure.caption.52}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.2}{\ignorespaces Test Results on the Simulated Environment\relax }}{87}{figure.caption.52}\protected@file@percent }
\newlabel{TestResults}{{4.2}{87}{Test Results on the Simulated Environment\relax }{figure.caption.52}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.3}{\ignorespaces Test Results on the Simulated Environment: Truck at the Destination\relax }}{88}{figure.caption.53}\protected@file@percent }
\newlabel{Test_Simu}{{4.3}{88}{Test Results on the Simulated Environment: Truck at the Destination\relax }{figure.caption.53}{}}
\@writefile{toc}{\contentsline {section}{\numberline {2}Path Evaluation Test Results and Validation}{88}{section.4.2}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {4.4}{\ignorespaces Test Results on the Simulated Environment: Multiple Splines Visualization\relax }}{90}{figure.caption.54}\protected@file@percent }
\newlabel{Mult_splines}{{4.4}{90}{Test Results on the Simulated Environment: Multiple Splines Visualization\relax }{figure.caption.54}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.5}{\ignorespaces Test Results on the Simulated Environment: Evaluation results of the Exponential Approach\relax }}{90}{figure.caption.55}\protected@file@percent }
\newlabel{Test_Eval_Exp}{{4.5}{90}{Test Results on the Simulated Environment: Evaluation results of the Exponential Approach\relax }{figure.caption.55}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.6}{\ignorespaces Test Results on the Simulated Environment: Evaluation results of the Normalized Approach with weighing out the curvature\relax }}{91}{figure.caption.56}\protected@file@percent }
\newlabel{Test_Eval_Norm1}{{4.6}{91}{Test Results on the Simulated Environment: Evaluation results of the Normalized Approach with weighing out the curvature\relax }{figure.caption.56}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.7}{\ignorespaces Test Results on the Simulated Environment: Evaluation results of the Normalized Approach with equal weights\relax }}{91}{figure.caption.57}\protected@file@percent }
\newlabel{Test_Eval_Norm2}{{4.7}{91}{Test Results on the Simulated Environment: Evaluation results of the Normalized Approach with equal weights\relax }{figure.caption.57}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.8}{\ignorespaces Navigating high curvatures in narrow areas\relax }}{92}{figure.caption.58}\protected@file@percent }
\newlabel{curv_problem}{{4.8}{92}{Navigating high curvatures in narrow areas\relax }{figure.caption.58}{}}
\@writefile{toc}{\contentsline {section}{\numberline {3}Path Optimization Test Results and Validation}{92}{section.4.3}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {4.9}{\ignorespaces Optimizer results in empty station of one of 10 generations with the overall best paths visualized in bold red and brown\relax }}{93}{figure.caption.59}\protected@file@percent }
\newlabel{OptResult1}{{4.9}{93}{Optimizer results in empty station of one of 10 generations with the overall best paths visualized in bold red and brown\relax }{figure.caption.59}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.10}{\ignorespaces Optimizer results in presence of obstacles of one of 10 generations with the overall best paths visualized in bold red and brown\relax }}{94}{figure.caption.60}\protected@file@percent }
\newlabel{OptResult2}{{4.10}{94}{Optimizer results in presence of obstacles of one of 10 generations with the overall best paths visualized in bold red and brown\relax }{figure.caption.60}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.11}{\ignorespaces Optimizer results in presence of obstacles and influence of increasing path waypoints\relax }}{94}{figure.caption.61}\protected@file@percent }
\newlabel{OptResult3}{{4.11}{94}{Optimizer results in presence of obstacles and influence of increasing path waypoints\relax }{figure.caption.61}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.12}{\ignorespaces Optimizer results in a simple environment tested inside the RACK simulation: Start Position\relax }}{95}{figure.caption.62}\protected@file@percent }
\newlabel{OptResult4}{{4.12}{95}{Optimizer results in a simple environment tested inside the RACK simulation: Start Position\relax }{figure.caption.62}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.13}{\ignorespaces Optimizer results in a simple environment tested inside the RACK simulation: Target Position\relax }}{96}{figure.caption.63}\protected@file@percent }
\newlabel{OptResult5}{{4.13}{96}{Optimizer results in a simple environment tested inside the RACK simulation: Target Position\relax }{figure.caption.63}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.14}{\ignorespaces Optimizer results in a Complex environment tested inside the RACK simulation: Start Position\relax }}{97}{figure.caption.64}\protected@file@percent }
\newlabel{OptResult6}{{4.14}{97}{Optimizer results in a Complex environment tested inside the RACK simulation: Start Position\relax }{figure.caption.64}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.15}{\ignorespaces Optimizer results in a Complex environment tested inside the RACK simulation: AMR Navigating the path\relax }}{97}{figure.caption.65}\protected@file@percent }
\newlabel{OptResult7}{{4.15}{97}{Optimizer results in a Complex environment tested inside the RACK simulation: AMR Navigating the path\relax }{figure.caption.65}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.16}{\ignorespaces Optimizer results in a Complex environment tested inside the RACK simulation: Target Position\relax }}{98}{figure.caption.66}\protected@file@percent }
\newlabel{OptResult8}{{4.16}{98}{Optimizer results in a Complex environment tested inside the RACK simulation: Target Position\relax }{figure.caption.66}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.17}{\ignorespaces Obstacle Used for Metaheuristic Algorithms comparison in the complex scenario\relax }}{100}{figure.caption.67}\protected@file@percent }
\newlabel{OptResult9}{{4.17}{100}{Obstacle Used for Metaheuristic Algorithms comparison in the complex scenario\relax }{figure.caption.67}{}}
\@writefile{lot}{\contentsline {table}{\numberline {4.1}{\ignorespaces Comparison of Planning Time for Different Algorithms in Simple and Complex Environments (in milliseconds)\relax }}{100}{table.caption.68}\protected@file@percent }
\newlabel{tab:planning_time}{{4.1}{100}{Comparison of Planning Time for Different Algorithms in Simple and Complex Environments (in milliseconds)\relax }{table.caption.68}{}}
\@writefile{lot}{\contentsline {table}{\numberline {4.2}{\ignorespaces Comparison of Fitness Values of the optimum paths generated by Different Algorithms in Simple and Complex Environments\relax }}{101}{table.caption.69}\protected@file@percent }
\newlabel{tab:fitness_values}{{4.2}{101}{Comparison of Fitness Values of the optimum paths generated by Different Algorithms in Simple and Complex Environments\relax }{table.caption.69}{}}
\@writefile{toc}{\contentsline {section}{\numberline {4}Field-Testing of the Solution on the AMR}{101}{section.4.4}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {4.1}Simple Test Environment}{101}{subsection.4.4.1}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {4.18}{\ignorespaces Environment and Start position of the Simple Test Scenario\relax }}{102}{figure.caption.70}\protected@file@percent }
\newlabel{OptResult10}{{4.18}{102}{Environment and Start position of the Simple Test Scenario\relax }{figure.caption.70}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.19}{\ignorespaces Environment and Start position of the Simple Test Scenario in a real warehouse with iGo Neo\relax }}{102}{figure.caption.71}\protected@file@percent }
\newlabel{OptResult11}{{4.19}{102}{Environment and Start position of the Simple Test Scenario in a real warehouse with iGo Neo\relax }{figure.caption.71}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.20}{\ignorespaces Truck in the simulation navigating the planned path: Transition phase\relax }}{103}{figure.caption.72}\protected@file@percent }
\newlabel{OptResult50}{{4.20}{103}{Truck in the simulation navigating the planned path: Transition phase\relax }{figure.caption.72}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.21}{\ignorespaces Real Truck navigating the planned path: Transition phase\relax }}{103}{figure.caption.73}\protected@file@percent }
\newlabel{OptResult51}{{4.21}{103}{Real Truck navigating the planned path: Transition phase\relax }{figure.caption.73}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.22}{\ignorespaces Truck in the simulation navigating the planned path: Docking phase\relax }}{104}{figure.caption.74}\protected@file@percent }
\newlabel{OptResult60}{{4.22}{104}{Truck in the simulation navigating the planned path: Docking phase\relax }{figure.caption.74}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.23}{\ignorespaces Real Truck navigating the planned path: Docking phase\relax }}{104}{figure.caption.75}\protected@file@percent }
\newlabel{OptResult61}{{4.23}{104}{Real Truck navigating the planned path: Docking phase\relax }{figure.caption.75}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {4.2}Complex Test Environments}{105}{subsection.4.4.2}\protected@file@percent }
\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.2.1}Obstacle Setup 1: Obstacle on the left of the AMR}{105}{subsubsection.4.4.2.1}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {4.24}{\ignorespaces Environment and Start position of the Complex Test Scenario: First Obstacle setup in the warehouse\relax }}{106}{figure.caption.76}\protected@file@percent }
\newlabel{OptResult12}{{4.24}{106}{Environment and Start position of the Complex Test Scenario: First Obstacle setup in the warehouse\relax }{figure.caption.76}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.25}{\ignorespaces Environment and Start position of the Complex Test Scenario: First Obstacle setup in the simulation\relax }}{106}{figure.caption.77}\protected@file@percent }
\newlabel{OptResult13}{{4.25}{106}{Environment and Start position of the Complex Test Scenario: First Obstacle setup in the simulation\relax }{figure.caption.77}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.26}{\ignorespaces Transition Position of the Complex Test Scenario: First Obstacle setup in the warehouse\relax }}{107}{figure.caption.78}\protected@file@percent }
\newlabel{OptResult14}{{4.26}{107}{Transition Position of the Complex Test Scenario: First Obstacle setup in the warehouse\relax }{figure.caption.78}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.27}{\ignorespaces Transition Position of the Complex Test Scenario: First Obstacle setup in the simulation\relax }}{107}{figure.caption.79}\protected@file@percent }
\newlabel{OptResult15}{{4.27}{107}{Transition Position of the Complex Test Scenario: First Obstacle setup in the simulation\relax }{figure.caption.79}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.28}{\ignorespaces Target Position of the Complex Test Scenario: First Obstacle setup in the warehouse\relax }}{108}{figure.caption.80}\protected@file@percent }
\newlabel{OptResult16}{{4.28}{108}{Target Position of the Complex Test Scenario: First Obstacle setup in the warehouse\relax }{figure.caption.80}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.29}{\ignorespaces Target Position of the Complex Test Scenario: First Obstacle setup in the simulation\relax }}{108}{figure.caption.81}\protected@file@percent }
\newlabel{OptResult17}{{4.29}{108}{Target Position of the Complex Test Scenario: First Obstacle setup in the simulation\relax }{figure.caption.81}{}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.2.2}Obstacle Setup 2: Obstacle on the right of the AMR}{109}{subsubsection.4.4.2.2}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {4.30}{\ignorespaces Start Position of the Complex Test Scenario: Second Obstacle setup in the warehouse\relax }}{109}{figure.caption.82}\protected@file@percent }
\newlabel{OptResult18}{{4.30}{109}{Start Position of the Complex Test Scenario: Second Obstacle setup in the warehouse\relax }{figure.caption.82}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.31}{\ignorespaces Start Position of the Complex Test Scenario: Second Obstacle setup in the simulation\relax }}{110}{figure.caption.83}\protected@file@percent }
\newlabel{OptResult19}{{4.31}{110}{Start Position of the Complex Test Scenario: Second Obstacle setup in the simulation\relax }{figure.caption.83}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.32}{\ignorespaces Transition Position of the Complex Test Scenario: Second Obstacle setup in the warehouse\relax }}{110}{figure.caption.84}\protected@file@percent }
\newlabel{OptResult20}{{4.32}{110}{Transition Position of the Complex Test Scenario: Second Obstacle setup in the warehouse\relax }{figure.caption.84}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.33}{\ignorespaces Transition Position of the Complex Test Scenario: Second Obstacle setup in the simulation\relax }}{111}{figure.caption.85}\protected@file@percent }
\newlabel{OptResult21}{{4.33}{111}{Transition Position of the Complex Test Scenario: Second Obstacle setup in the simulation\relax }{figure.caption.85}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.34}{\ignorespaces Target Position of the Complex Test Scenario: Second Obstacle setup in the warehouse\relax }}{111}{figure.caption.86}\protected@file@percent }
\newlabel{OptResult22}{{4.34}{111}{Target Position of the Complex Test Scenario: Second Obstacle setup in the warehouse\relax }{figure.caption.86}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {4.35}{\ignorespaces Target Position of the Complex Test Scenario: Second Obstacle setup in the simulation\relax }}{112}{figure.caption.87}\protected@file@percent }
\newlabel{OptResult23}{{4.35}{112}{Target Position of the Complex Test Scenario: Second Obstacle setup in the simulation\relax }{figure.caption.87}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {4.3}Discussion of the results}{112}{subsection.4.4.3}\protected@file@percent }
\@writefile{toc}{\contentsline {section}{\numberline {5}Summary of Contributions and Reflections}{113}{section.4.5}\protected@file@percent }
\@writefile{toc}{\contentsline {chapter}{General conclusion}{115}{chapter*.88}\protected@file@percent }
\citation{R28}
\citation{R28}
\@writefile{toc}{\contentsline {chapter}{Annexes}{117}{chapter*.89}\protected@file@percent }
\bibcite{R1}{1}
\bibcite{R2}{2}
\bibcite{R3}{3}
\bibcite{R4}{4}
\bibcite{R5}{5}
\bibcite{R6}{6}
\bibcite{R7}{7}
\bibcite{R8}{8}
\bibcite{R9}{9}
\bibcite{R10}{10}
\bibcite{R11}{11}
\@writefile{toc}{\contentsline {chapter}{Bibliography}{118}{chapter*.90}\protected@file@percent }
\bibcite{R12}{12}
\bibcite{R13}{13}
\bibcite{R14}{14}
\bibcite{R15}{15}
\bibcite{R16}{16}
\bibcite{R17}{17}
\bibcite{R18}{18}
\bibcite{R19}{19}
\bibcite{R20}{20}
\bibcite{R21}{21}
\bibcite{R22}{22}
\bibcite{R23}{23}
\bibcite{R24}{24}
\bibcite{R25}{25}
\bibcite{R26}{26}
\bibcite{R27}{27}
\bibcite{R28}{28}
\bibcite{R29}{29}
\bibcite{R30}{30}
\bibcite{R31}{31}
\bibcite{R32}{W1}
\bibcite{R33}{33}
\bibcite{R34}{34}
\bibcite{R35}{35}
\bibcite{R36}{36}
\bibcite{R37}{37}
\bibcite{R38}{38}
\bibcite{R39}{39}
\bibcite{R40}{40}
\bibcite{R41}{41}
\bibcite{R42}{42}
\bibcite{R43}{43}
\bibcite{R44}{44}
\bibcite{R45}{45}
\bibcite{R46}{46}
\bibcite{R47}{47}
\ACRO{readaux}
\csname bt@set@cnt\endcsname{0}
\gdef \@abspage@last{135}