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automated storage and retrieval system

AutoStore, Ocado Smart Platform, Swisslog

SystemTechniques · 9Primitives · 29 asrs Battery state estimationembedded · medium: State of charge / health / power from coulomb counting, OCV curves and model-based observersPlc scan cycleembedded · medium: Cyclic read-inputs, execute-logic, write-outputs execution with IEC 61131-3 programsInventory reservationfinance · medium: Reserving stock with TTL holds, release on timeout and no overselling under contentionAssignment problem (Hungarian / Jon…graphs · medium: Optimal one-to-one matching of rows to columns in O(n³) by growing a matching along shortest augmenting paths over dual potentials.›Discrete event simulationnumerics · medium: Simulation driven by a time-ordered event queue with deterministic, reproducible replayStorage location assignmentoptimization · medium: Slotting: assign SKUs to warehouse locations by velocity, cube and affinity to minimise travel and balance zonesMulti agent path findingrobotics · medium: Conflict-based search for collision-free paths of many robots on a gridd-ary heapdata-structures · low: Array heap with d children per node (d = 4 typical): half the binary heap's depth, siblings in one cache line, faster priority queues.›A* searchgraphs · low: Dijkstra ordered by cost-so-far plus an admissible estimate of the remaining cost; optimal paths while exploring far fewer nodes toward the goal.›Leasesdistributed · low: A lock that expires on its own: bounded-time ownership that survives crashes and partitions, given bounded clock drift and fencing tokens on writes.›Phi accrual failure detectordistributed · low: Instead of a fixed heartbeat timeout, output a continuous suspicion level φ from the observed heartbeat interval distribution; adapts to each link's jitter.›PID controllerrobotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.›Velocity motion profilesrobotics · low: Trapezoidal and S-curve (jerk-limited) velocity profiles for point-to-point movesDeadlock detectionstorage · low: Find transactions waiting on each other in a cycle (wait-for graph), abort one, or order lock requests so no cycle can form.›Spline interpolationnumerics · low: Linear, bilinear/trilinear and cubic spline interpolation on grids and tablesExtended Kalman filterrobotics · low: Kalman filter for nonlinear motion and measurement models: linearize f and h with Jacobians at the current estimate each step. The default estimator in robot navigation.›Fixed-rate control loopembedded · low: Run a controller at an exact period using absolute deadlines and a fixed dt, so jitter never accumulates and the math stays valid.›Real time fieldbusembedded · low: Deterministic cyclic fieldbuses (EtherCAT, PROFINET IRT): on-the-fly frames, distributed clocksWatchdog timerembedded · low: A hardware down-counter that resets the chip unless software proves, in time and in a plausible pattern, that it is still healthy.›Conditional writesdistributed · low: Put-if-absent / if-match compare-and-swap on objects or keys as a commit primitiveIdempotency keysfinance · low: Client-chosen unique key per logical operation, stored with a request fingerprint and the final response, so retries replay the first result instead of acting twice.›Hierarchical timing wheelsystems · low: Timers bucketed by expiry into wheels of slots, coarser wheels for far deadlines: O(1) insert and cancel for millions of timeouts.›Dijkstra's algorithmgraphs · low: Single-source shortest paths with non-negative edge weights by settling vertices in order of distance with a priority queue.›+ 2 more techniques+ 13 more primitives

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