## 4 Robot System Description  
Three mobile robots were considered for the development of the fleet management system, consisting of two AMRs and one AGV, from different brands. For this case study, the AGV used is an ASTI TriBot (with specifications listed in Table 1), as shown in Figure 3. Developed by ABB, it is designed for industrial and logistical applications. The AGV is characterized by its flexibility and navigation capabilities, making it ideal for material transport tasks within factories and warehouses [25]. This AGV is equipped with a datalogger and an access point (AP), which allow for the collection and transmission of data to a central server, ensuring real-time monitoring. Regarding the AMRs, one of them is an Aiten MP10 (with the specifications listed in Table 2), as shown in Figure 4. The Aiten MP10 is a forklift robot from the MP series by AiTEN Robotics, designed to optimize material handling in industrial environments. This model stands out due to its compact and modular design, integrating a differential \begin{table}
\begin{tabular}{c c} \hline \hline \multicolumn{1}{c}{**Characteristics**} & \multicolumn{1}{c}{**Description**} \\ \hline Type & AGV (Automated Guided Vehicle) \\ Manufacturer & ABB (ASTI Mobile Robotics), Murcia, Spain, \\ Maximum Load & 5000 kg \\ Dimensions (L \(\times\) W \(\times\) H) & 1424 \(\times\) 980 \(\times\) 880 mm \\ Movement & Unidirectional \\ Navigation System & Magnetic + RFID tags \\ Speed & 0.035–2 m/s \\ Positioning Accuracy & Up to \(\pm\)10 mm \\ Battery & Li-Ion 48 V 130 Ah \\ Software Management System & SIGAT MultiAGV \\ Communication & WiFi, Radio Frequency, M2M \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Specifications of the ASTI TriBot AGV [25]. Figure 3: AGV ABB ASTI TriBot. wheel system and a forklift chassis with AiTEN's advanced Simultaneous Localization and Mapping (SLAM) laser navigation technology [26]. This robot is equipped with a 3D laser sensor at the top of the structure, as shown in Figure 4, to ensure a 360\({}^{\circ}\) perception of the surrounding environment, as well as a sensor at the bottom front, which is essential for mapping and navigation. Finally, the last robot used in this case study was the AMB-1000 JS from Seer (with the specifications listed in Table 3), as illustrated in Figure 5. It is an AMR designed for safe lifting operations and handling heavy loads in industrial environments [27]. This robot is equipped with two SICK nanoscan3 Core safety sensors, providing an omnidirectional 360\({}^{\circ}\) perception. \begin{table}
\begin{tabular}{c c} \hline \hline
**Characteristics** & **Description** \\ \hline Type & AMR \\ Manufacturer & AiTEN Suzhou, China \\ Maximum Load & Up to 1000 kg \\ Dimensions (L \(\times\) W \(\times\) H) & 1475 \(\times\) 735 \(\times\) 450 mm \\ Navigation System & Laser SLAM \\ Maximum Speed & 0.8 m/s \\ Positioning Accuracy & Up to \(\pm\)10 mm \\ Battery & Li-Ion 48 V 1 30 Ah \\ Communication & WiFi \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Specifications of AMR AiTEN MP10 [26]. Figure 4: AMR AiTEN MP10. These two AMRs support two types of communication, which are as follows:  
* HTTP (Server): The HyperText Transfer Protocol (HTTP) is the foundation of web communication, enabling the exchange of information between clients and servers. It operates on a request-response model, where the client requests a resource, and the server processes the request and sends a corresponding response. Among the most commonly used HTTP methods are GET and POST, each with specific characteristics and objectives [28]. However, this communication requires an additional server, provided by the manufacturer, and the data collection is more limited. * TCP/IP: The Transmission Control Protocol/Internet Protocol (TCP/IP) is the foundation of communication in computer networks and servers, enabling reliable data transmission between devices.