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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
A CARLA-based Simulation of Electrically Driven Forklifts
David Claus, Christiane Thielemann, Hans-Georg Stark · 2025-09-19 · via cs.RO updates on arXiv.org

This paper presents the simulation of the operation of an electric forklift fleet within an intralogistics scenario. For this purpose, the open source simulation tool CARLA is used; according to our knowledge this is a novel approach in the context of logistics simulation. First, CARLA is used to generate and visualize a realistic 3D outdoor warehouse scenario, incorporating a number of randomly moving forklifts. In a next step, intralogistics transport tasks, such as pick-and-place, are simulated for the forklift fleet, including shortest-path finding. Furthermore, the capability to play back localization data, previously recorded from a ''real'' forklift fleet, is demonstrated.This play back is done in the original recreated environment, thereby enabling the visualization of the forklifts movements. Finally, the energy consumption of the forklift trucks is simulated by integrating a physical battery model that generates the state of charge (SOC) of each truck as a function of load and activity. To demonstrate the wide range of possible applications for the CARLA simulation platform, we describe two use cases. The first deals with the problem of detecting regions with critically high traffic densities, the second with optimal placement of charging stations for the forklift trucks. Both use cases are calculated for an exemplary warehouse model.