# Survival 1.0: A Novel Autonomous Industrial Mobile Warehouse (AIMW) for Industrial Environments
## 1 Introduction
### Autonomous Mobile Robots for Specific Applications  
In most modern applications, both AMRs and AGVs are used interchangeably to refer to autonomous devices that can perform industrial tasks [20], which can include material handling, research activities, collaborative work with humans (cobots) or cooperative activities with another AGV or AMR [12].  
One of the applications of AMRs can be the manipulation of materials through a robot arm or actuator located on it. These types of devices are known as Autonomous Industrial Mobile Manipulators (AIMMs) [21; 22]. The great advantage these systems offer is that they can be quickly moved and adapted to different industrial needs, providing drastically new possibilities for manufacturing industries. Unlike traditional, stationary and pre-programmed production robots, AIMMs can support multiple locations. They are able to offer highly flexible logistical possibilities and can improve productivity by providing assistance in situations that require a lot of time, danger or stress [23]. In AIMMs, the rover base and robotic arm can be considered as separate subsystems that collectively are part of a complex AMR. The base, which can be an AGV, is often used to transport, dock or park the  
Figure 3: Different AMR warehouses of the Zebra brand found in the market, obtained from [19].  
robotic arm in a location where the arm is needed to perform a specific task [20]. Research is currently being carried out on how to improve these platforms. In [24], a new platform called Omnivil has been proposed, in which the main novelty is the monitoring of the work environment to improve robot-human interactions. In [25], the collaborative interaction among AIMM platforms, known as Collaborative Mobile Industrial Manipulator (CMIM), is being researched. There is also research on the development of these types of platforms for different applications. For example, in [26], a platform called KittingBot has been proposed for use in kitting tasks, basically in automobile manufacturing.  
Recent research has focused on developing other types of specific applications through the use of commercial AMRs, see [27; 28]. In [27], a mobile robot called Phollower was designed and equipped with the latest types of industrial components and sensors. The robot is equipped with a germicidal UV-C light add-on for disinfection of indoor areas. In [28], a MiR100 mobile robot platform is used to cooperate with the production line, take over the manufactured products and then deliver them. Regarding the use of commercial hardware, in [27] a Programmable Logic Controller (PLC) and open-Powerlink communication are used and in [28] a MiR100 mobile robot platform, (manufactured by MiR, Odense, Denmark) is used, which allow the expansion of these types of new applications to be easily extensible and generalizable, that is, become industrializable because the components are known and there are personnel trained in their handling and problem solving, etc. This new trend in research is in line with what was developed in our previous work regarding the development of industrializable IIoT applications, the I3 oC (Industrializable Industrial Internet of Things). In this case, we intend to use what is already installed in the factory for the development of applications that allow to improve the production lines, see [29; 30], developing applications that are easy to mass produce and generalize.