Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery

被引：0
|
作者：
Nie, Zhenbang [1 ,2 ,3 ,4 ,5 ]
Zeng, Peng [1 ,2 ,3 ,4 ,5 ]
Yu, Haibin [1 ,2 ,3 ,4 ,5 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110017, Peoples R China
[2] Chinese Acad Sci, Inst Robot, Shenyang 110179, Peoples R China
[3] Chinese Acad Sci, Inst Intelligent Mfg, Shenyang 110179, Peoples R China
[4] Chinese Acad Sci, Key Lab Networked Control Syst, Shenyang 110017, Peoples R China
[5] Univ Chinese Acad Sci, Beijing 100049, Peoples R China
来源：
PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020) | 2020年
关键词：
Multi-Agent Pickup and Delivery; Multi-Agent Path Finding; Decoupled Path Planning;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Continuous MAPD (Multi-Agent Pickup and Delivery) problem is widely encountered in material transportation systems. TP (Token Passing) is a conflict-free, deadlock-free algorithm for continuous MAPD problems. However, when TP is used, the number of tasks simultaneously handled by agents is limited by the number of task endpoint locations. To solve this problem, ITP (Improved Token Passing) is proposed in this paper. An extra path planning procedure is introduced to improve agent utilization. A complete and optimal A*-based algorithm is designed to solve the low level single agent path planning problem. ITP increases system throughput by exploiting all available agents, and remains conflict-free and deadlock-free. Experiment result shows that ITP outperforms TP in terms of system makespan under heavy workload in congested workspace.
引用
收藏
页码：2667 / 2672
页数：6
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