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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics

ISBN

978-989-758-442-8

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

521-528

Název nakladatele

SciTePress

Místo vydání

Setùbal

Místo konání akce

online streaming

Datum konání akce

7. 7. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000614134300059