Abstract: Various example embodiments relate to motion control of a target such as a suspended load. An apparatus may comprise: a floating base comprising an exteroceptive observation system configured to measure a position or velocity of at least one target with respect to a reference coordinate frame moving with the floating base. The floating base may further comprise an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame. Position or velocity compensation for the at least one target may be performed based on the at least one inertial state of the floating base.

Abstract: Disclosed is a load handling system, a method and a computer program product. In a target selection operation state, a target position is identified in the representation of the surrounding of a load handling vehicle as an initially-selected target position and verified as a verified target position by obtaining a verification for the initially-selected target position. In a vehicle driving operation state, a driving instruction, provided based on the verified target position, is transmitted to a vehicle control unit.

Abstract: Disclosed is a load handling controller, a method and a computer program product. A first virtual marker corresponding to a load of the vehicle and one or more commands for positioning the first virtual marker within a representation of the surrounding of a load handling vehicle is provided. From the position of the first virtual marker in the representation, a wanted position for unloading the load relative to the representation of the surrounding of the vehicle is determined. Based on the wanted position for unloading the load relative to the representation of the surrounding of the vehicle, control instructions for the vehicle for load handling are provided.

Abstract: Various example embodiments relate to motion control of a target such as a suspended load. An apparatus may comprise: a floating base comprising an exteroceptive observation system configured to measure a position or velocity of at least one target with respect to a reference coordinate frame moving with the floating base. The floating base may further comprise an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame. Position or velocity compensation for the at least one target may be performed based on the at least one inertial state of the floating base.

Abstract: There is provided an apparatus comprising means for: receiving a first image of a first feature of a load; receiving a second image of a second feature of the load; determining image plane coordinates of the features of the load based on the first image and the second image; determining one or more action candidates based on the image plane coordinates; evaluating the one or more action candidates using an intermediate medium embodying historical experience information within a finite time horizon; choosing a control action based on the evaluation, wherein the control action causes a spreader to move with respect to the load.

Abstract: Disclosed is an arrangement and a method for hitch-angle estimation for a tractor-trailer combination. The arrangement comprising one or more sensors for providing one or more point clouds comprising a representation for the trailer as seen from one or more measurement positions at the tractor, a first measurement for the speed of the tractor, and a second measurement for an orientation of the tractor. The arrangement also comprises a computing unit configured to obtain one or more first values indicating the hitch angle between the tractor and the trailer, determined from the one or more point clouds, obtain a second value indicating the rate of change for the hitch angle, determined from the first and the second measurement, and fuse the one or more first values and the second value to provide an estimate for the hitch angle between the tractor and the trailer.