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This paper aims to provide a comprehensive analysis of the state of the art in energy efficiency for autonomous mobile robots (AMRs), focusing on energy sources, consumption models, energy-efficient locomotion, hardware energy consumption, optimization in path planning and scheduling methods, and to suggest future research directions.

The systematic literature review (SLR) identified 244 papers for analysis. Research articles published from 2010 onwards were searched in databases including Google Scholar, ScienceDirect and Scopus using keywords and search criteria related to energy and power management in various robotic systems.

The review highlights the following key findings: batteries are the primary energy source for AMRs, with advances in battery management systems enhancing efficiency; hybrid models offer superior accuracy and robustness; locomotion contributes over 50% of a mobile robot’s total energy consumption, emphasizing the need for optimized control methods; factors such as the center of mass impact AMR energy consumption; path planning algorithms and scheduling methods are essential for energy optimization, with algorithm choice depending on specific requirements and constraints.

The review concentrates on wheeled robots, excluding walking ones. Future work should improve consumption models, explore optimization methods, examine artificial intelligence/machine learning roles and assess energy efficiency trade-offs.

This paper provides a comprehensive analysis of energy efficiency in AMRs, highlighting the key findings from the SLR and suggests future research directions for further advancements in this field.

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