  The paper presents the propagation analysis of ultrawideband Gaussian signal
in an automated collaborative warehouse environment where human and robots
communicate to ensure that mutual collisions do not occur. The warehouse racks
are principally modeled as clusters of metallic (PEC) parallelepipeds, with
dimensions chosen to approximate the realistic warehouse. The signal
propagation is analyzed using a ray tracing software, with the goal to
calculate the path loss profile for different representative scenarios and
antenna polarizations. The influence of the rack surface roughness onto
propagation is also analyzed. The guidelines for optimum antenna positions on
humans and robots for safe communication are proposed according to the
simulations results.
