Robotic multi-item type palletizing and depalletizing

A method to control a robot, comprising:

• receiving via a communication interface data associated with a plurality of items to be stacked on or in a destination location, wherein the plurality of items comprises a first plurality of items;
• using a processor generate based at least in part on the received data a plan to stack the items on or in the destination location;
• using the processor to implement the plan at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the destination location according to the plan, including by for each item:
• using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location;
• and
• using one or more second order sensors to snug the item into a final position;
• receiving data associated with a second plurality of items;
• using the data associated with the first plurality of items and the data associated with the second plurality of items to determine dynamically an adjusted plan to stack items comprising the first and second plurality of items on or in the destination location;
• and
• implementing the adjusted plan, wherein implementing the adjusted plan comprises:
• removing from a first location of the destination location one or more items of the first plurality of items that have been placed on or in the destination location;
• placing the one or more removed items in a buffer area;
• and
• placing at the first location of the destination location one or more items of the second plurality of items.

A computer program product to control a robot, the computer program product being embodied in a non-transitory computer readable medium and comprising computer instructions for:

• receiving data associated with a plurality of items to be stacked on or in a destination location, wherein the plurality of items comprises a first plurality of items;
• generating based at least in part on the received data a plan to stack the items on or in the destination location;
• implementing the plan at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item:
• using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location;
• and
• using one or more second order sensors to snug the item into a final position;
• receiving data associated with a second plurality of items;
• using the data associated with the first plurality of items and the data associated with the second plurality of items to determine dynamically an adjusted plan to stack items comprising the first and second plurality of items on or in the destination location;
• and
• implementing the adjusted plan, wherein implementing the adjusted plan comprises:
• removing from a first location of the destination location one or more items of the first plurality of items that have been placed on or in the destination location;
• placing the one or more removed items in a buffer area;
• and
• placing at the first location of the destination location one or more items of the second plurality of items.