{"id":"https://openalex.org/W7155060847","doi":"https://doi.org/10.1109/icara69401.2026.11480416","title":"CARGO: A Mobile Manipulator Solution for Container Unloading","display_name":"CARGO: A Mobile Manipulator Solution for Container Unloading","publication_year":2026,"publication_date":"2026-02-05","ids":{"openalex":"https://openalex.org/W7155060847","doi":"https://doi.org/10.1109/icara69401.2026.11480416"},"language":null,"primary_location":{"id":"doi:10.1109/icara69401.2026.11480416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134113919","display_name":"Maria S. Lopes","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Maria S. Lopes","raw_affiliation_strings":["INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075764051","display_name":"Artur Cordeiro","orcid":"https://orcid.org/0000-0002-0891-8436"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Artur Cordeiro","raw_affiliation_strings":["INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019464093","display_name":"Ricardo B. Sousa","orcid":"https://orcid.org/0000-0003-4537-5095"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ricardo B. Sousa","raw_affiliation_strings":["INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125526739","display_name":"Jos\u00e9 Alberto Be\u00e7a","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127944","display_name":"Sonae (Portugal)","ror":"https://ror.org/036bh3761","country_code":"PT","type":"company","lineage":["https://openalex.org/I4210127944"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Alberto Be\u00e7a","raw_affiliation_strings":["MC Sonae"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MC Sonae","institution_ids":["https://openalex.org/I4210127944"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109709641","display_name":"Pedro Costa","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Costa","raw_affiliation_strings":["INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134157062","display_name":"Jo\u00e3o P.C. de Souza","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o P.C. de Souza","raw_affiliation_strings":["INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023258418","display_name":"Manuel F. Silva","orcid":"https://orcid.org/0000-0002-0593-2865"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Manuel F. Silva","raw_affiliation_strings":["INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC &#x2013; Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.57461221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"274","last_page":"279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.7656000256538391,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.7656000256538391,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.025100000202655792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13344","display_name":"Industrial Automation and Control Systems","score":0.01940000057220459,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/container","display_name":"Container (type theory)","score":0.6330000162124634},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.48339998722076416},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.382099986076355},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.31310001015663147},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.29100000858306885},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2883000075817108}],"concepts":[{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.6330000162124634},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.48339998722076416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4569000005722046},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.382099986076355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34700000286102295},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.31310001015663147},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2808000147342682},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.27230000495910645},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2667999863624573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara69401.2026.11480416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2048325170","https://openalex.org/W2049410986","https://openalex.org/W2508557130","https://openalex.org/W2785127796","https://openalex.org/W2963037989","https://openalex.org/W2970257253","https://openalex.org/W3045667832","https://openalex.org/W3090672362","https://openalex.org/W4317426011","https://openalex.org/W4365147444","https://openalex.org/W4386961410","https://openalex.org/W4388736930","https://openalex.org/W4390802371","https://openalex.org/W4410514996"],"related_works":[],"abstract_inverted_index":{"Shipping":[0],"container":[1,117],"unloading":[2,136],"is":[3,24],"a":[4,63,68,84,104,115,142,151,164,169],"physically":[5],"demanding":[6],"task":[7],"often":[8],"carried":[9],"out":[10],"under":[11],"challenging":[12],"conditions,":[13],"which":[14,56],"motivates":[15],"the":[16,28,111,122,132],"use":[17],"of":[18,33,89,145],"automation.":[19,175],"However,":[20],"automating":[21],"this":[22],"process":[23],"complex":[25],"due":[26],"to":[27,39,77,96],"unpredictable":[29],"sizes":[30,159],"and":[31,47,75,160],"quantities":[32],"each":[34],"shipment.":[35],"Existing":[36],"solutions":[37],"tend":[38],"be":[40,94],"task-specific,":[41],"rely":[42],"on":[43,51],"closed":[44],"software":[45],"stacks,":[46],"offer":[48],"limited":[49],"information":[50],"performance":[52],"in":[53,103],"non-controlled":[54],"environments,":[55],"restricts":[57],"their":[58],"adaptability.":[59],"We":[60],"present":[61],"CARGO,":[62],"modular":[64,166],"pipeline":[65,82,112],"that":[66,92,100,150],"enables":[67],"mobile":[69,133,153],"manipulator":[70,134,154],"equipped":[71],"with":[72,131,141],"regular":[73],"sensors":[74],"actuators":[76],"unload":[78],"containers":[79],"autonomously.":[80],"The":[81],"employs":[83],"predefined,":[85],"layered":[86],"workflow":[87],"composed":[88],"reconfigurable":[90],"modules":[91],"can":[93,155],"adapted":[95],"various":[97],"robots,":[98],"ensuring":[99],"all":[101],"boxes":[102,137],"stack":[105],"are":[106],"systematically":[107],"handled.":[108],"In":[109],"simulation,":[110],"successfully":[113,135],"unloaded":[114],"full":[116],"without":[118],"collisions,":[119],"thereby":[120],"validating":[121],"complete":[123],"workflow.":[124],"Laboratory":[125],"tests":[126],"further":[127],"confirmed":[128],"these":[129],"results,":[130],"across":[138],"multiple":[139],"trials,":[140],"success":[143],"rate":[144],"97%.":[146],"These":[147],"results":[148],"demonstrate":[149],"versatile":[152],"handle":[156],"mixed":[157],"box":[158],"chaotic":[161],"layouts":[162],"using":[163],"generic,":[165],"pipeline,":[167],"highlighting":[168],"promising":[170],"direction":[171],"for":[172],"flexible":[173],"container-unloading":[174]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-22T00:00:00"}
