On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem

• DOI: 10.5220/0009888905210528
• Publication Date: 2020-07-16T13:30:29Z
• Authors: Konstantin Yakovlev; Anton Andreychuk; Tomáš Rybecký; Miroslav Kulich
• Keywords: 0209 industrial biotechnology; Multi-robot systems; 02 engineering and technology; Multi-agent path finding; Automated warehouses; Safe-interval path planning; 004; 620

In this paper, we address the multi-agent pickup and delivery problem, a variant of multi-agent path finding. Specifically, we decouple the problem into two parts: task allocation and path planning. We employ the any-angle safe-interval path planning algorithm introduced in our recent work and study the performance of several task allocation strategies. Furthermore, the proposed approach has been integrated into a control system to verify its feasibility in deployment on real robots. A key part of the system is a visual localization system which is based on the detection of unique artificial markers placed in the working environment. The conducted experiments show that generated plans can be safely executed on a real system.