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Affiliation

Federal Reseach Center for Computer Science and Control of Russian Academy of Sciences, Russia, Moscow Institute of Physics and Technology, Russia

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1 Papers

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

Topics: Autonomous Agents; Planning and Scheduling; Mobile Robots and Autonomous Systems

Authors: Konstantin Yakovlev ¹ , Anton Andreychuk ² , Tomáš Rybecký ³ and Miroslav Kulich ³

Affiliations: ¹ Federal Reseach Center for Computer Science and Control of Russian Academy of Sciences, Russia, Moscow Institute of Physics and Technology, Russia , ² Federal Reseach Center for Computer Science and Control of Russian Academy of Sciences, Russia, Peoples’ Friendship University of Russia (RUDN), Russia , ³ Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University, Czech Republic

Digital Object Identifier: 10.5220/0009888905210528

Proceedings of ICINCO 2020, ISBN: 978-989-758-442-8

Quick Abstract

We address a variant of multi-agent pickup and delivery problem and decouple 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.