Scenario 4: Autonomous distributed warehousing

Euroimpianti proposes an automated warehousing scenario as a use case from which to derive development requirements, and a test case to demonstrate satisfaction of those requirements. The proposed warehousing scenario is based on standard warehouse automation requirements posed by Euroimpianti’s customers. It considers autonomous forklifts (AGVs), which transport pallets between storage areas, palletization stations and delivery trucks, while sharing their workspace with human-operated vehicles and human workers. The scenario covers robust communications, sensor-based localization (without any modifications of the environment, such as reflective markers), distributed dynamic trajectory planning and system failure detection and compensation.

Automated warehousing operations require a robust system, which can enable efficient pallet transportation throughout the warehouse by numerous autonomous forklifts, while guaranteeing the safety of human workers and vehicles.

Key technical challenges in addressing this problem are:

  • Implementing communications that are robust to environmental disruption.
  • Maintaining highly accurate localization in a dynamic environment.
  • Guaranteeing efficient and collision-free trajectories in a dynamic, distributed setting.
  • Guaranteeing correct and efficient task execution in a dynamic, distributed setting.
  • Dynamically and seamlessly handling platform performance constraints or failure.


The main stakeholders for this scenario are: Euroimpianti, responsible for customer requirements and providing the necessary infrastructure for scenario implementation and testing (vehicles, sensors, testing environment); UZ in charge of the development, implementation and testing of localization, routing and task allocation algorithms; UDE for the development, implementation and testing of communications architecture; USE for the development and testing of collision-free trajectory generation algorithms and FADA-CATEC for the development and test support using the simulation tools.

Scenario 4: Autonomous distributed warehousing