On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F20%3A00344505" target="_blank" >RIV/68407700:21730/20:00344505 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.5220/0009888905210528" target="_blank" >https://doi.org/10.5220/0009888905210528</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5220/0009888905210528" target="_blank" >10.5220/0009888905210528</a>
Alternative languages
Result language
angličtina
Original language name
On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem
Original language description
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.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
ISBN
978-989-758-442-8
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
521-528
Publisher name
SciTePress
Place of publication
Setùbal
Event location
online streaming
Event date
Jul 7, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000614134300059