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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

Keyword(s): Multi-robot Systems, Safe-Interval Path Planning, Multi-agent Path Finding, Automated Warehouses

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.

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Paper citation in several formats:
Yakovlev, K.; Andreychuk, A.; Rybecký, T. and Kulich, M. (2020). On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 521-528. DOI: 10.5220/0009888905210528

@conference{icinco20,
author={Konstantin Yakovlev. and Anton Andreychuk. and Tomáš Rybecký. and Miroslav Kulich.},
title={On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={521-528},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009888905210528},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem
SN - 978-989-758-442-8
IS - 2184-2809
AU - Yakovlev, K.
AU - Andreychuk, A.
AU - Rybecký, T.
AU - Kulich, M.
PY - 2020
SP - 521
EP - 528
DO - 10.5220/0009888905210528
PB - SciTePress

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