Cloud-based cyber-physical robotic mobile fulfillment systems: a case study of collision avoidance

Kin Lok Keung, Ka Man Lee, Ping Ji, Kam Hung Ng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

33 Citations (Scopus)


The rapid development and implementation of the Internet of Things (IoT) and Cyber-Physical Systems (CPS) in the engineering and manufacturing field have embraced a virtual identity to ensure nearly real-time adjustment. Warehouses are challenged to reassess its order fulfillment operations while simultaneously being provided with the opportunity to develop its own cloud-based CPS with the aid of IoT devices. Robotic Mobile Fulfillment System (RMFS) is a system controlling mobile robots, mobile storage rack, putaway and picking workstations, charging stations, and wireless communication infrastructure in the context of robotic-assisted warehouse. This paper addresses the value creation utilizing cloud-based CPS in RMFS. By providing an analysis of cloud services and IoT enhancement, theoretical concepts from the literatures are consolidated to solve the research que-stions on how RMFS offering better order fulfillment can gain benefits in terms of operational efficiency and system reliability. The paper also proposes a cloud-based CPS architecture, providing a comprehensive understanding on conflict avoidance strategy in the multi-layers multi-deeps warehouse layout. This research presents six conflict classifications in RMFS and provides a case study in the real-life context. Dock grid conflict is a new type of conflict appearing in multi-deeps RMFS. A scenario analysis with real customer orders is applied to present the collision detection and solution.

Original languageEnglish
Article number9086600
Pages (from-to)89318-89336
Number of pages19
JournalIEEE Access
Publication statusPublished - 6 May 2020


  • Cyber-physical systems
  • Internet of Things
  • Robotic mobile fulfillment system
  • collision avoidance

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)


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