Abstract

Abstract

Abstract

Abstract

Abstract

Abstract
Shipping container unloading is a physically demanding task often carried out under challenging conditions, which motivates the use of automation. However, automating this process is complex due to the unpredictable sizes and quantities of each shipment. Existing solutions tend to be task-specific, rely on closed software stacks, and offer limited information on performance in non-controlled environments, which restricts their adaptability. We present CARGO, a modular pipeline that enables a mobile manipulator equipped with regular sensors and actuators to unload containers autonomously. The pipeline employs a predefined, layered workflow composed of reconfigurable modules that can be adapted to various robots, ensuring that all boxes in a stack are systematically handled. In simulation, the pipeline successfully unloaded a full container without collisions, thereby validating the complete workflow. Laboratory tests further confirmed these results, with the mobile manipulator successfully unloading boxes across multiple trials, with a success rate of 97%. These results demonstrate that a versatile mobile manipulator can handle mixed box sizes and chaotic layouts using a generic, modular pipeline, highlighting a promising direction for flexible container-unloading automation. © 2026 IEEE.