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

Konstantin Yakovlev, Anton Andreychuk, Tomáš Rybecký, Miroslav Kulich


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.


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