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 · 2020
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.