most notable application being collaborative order pick-
ing. The success of Amazon Robotics has popularized
robotic mobile fulllment systems, which have become
mainstream in modern e-commerce fulllment. In
these systems, AGVs are assigned to transport racks and
humans are responsible for picking order items at sta-
tionary workstations. This arrangement signicantly
improves warehouse productivity, and it is scalable,
since the number of robots and racks in use can be
adjusted as needed. Recently, HRC has also gained trac-
tion in the sorting process. Deppon Logistics has imple-
mented a robotic sorting system in its distribution cen-
ters to increase throughput capacity.
4
In this setup,
robots receive parcels or ...