Control device, picking system, distribution system, program, control method and production method

A non-transitory computer-readable medium having instructions thereon that, when executed by at least one processor of a control device, causes the at least one processor to:

• perform an object recognition operation when:
• i) the control device is configured to communicate with at least one image capturing apparatus and with a robot, and ii) a plurality of articles in a supply region are represented in image data generated by the at least one image capturing apparatus, wherein the object recognition operation is for identifying, based on the image data, a first article of the plurality of articles;
• perform a trajectory planning operation for generating a set of trajectory information that defines a trajectory for the first article from the supply region to a delivery region;
• and
• perform an execution operation for outputting a set of control information that is generated based on the set of trajectory information, wherein the set of control information is for causing the robot to move the first article from the supply region to the delivery region.