Home > Search Results: keywords:"Multi-agent pickup and delivery|Dvojúrovňové plánování|Multi-agentní hledání cest|Automatizované sklady"
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National Repository of Grey Literature 1 records found  Search took 0.01 seconds. 
Path planning for multi-robot warehouses
 Tauchmanová, Klára ; Barták, Roman (advisor) ; Švancara, Jiří (referee)
Thesis covers the problem of finding non-colliding paths in automated warehouses for a group of agents - so called Multi-agent pickup and delivery (MAPD) problem. Agents in the warehouses are constantly engaged with new tasks which require picking up the object on certain coordinates and transporting it to another place in the warehouse. The- sis describes a hierarchical algorithm for MAPD problems that plans paths in two levels - global and local. The algorithm works with a warehouse environment manually divided into sectors. Planning on the global level consists of assigning tasks to free agents and selecting a sequence of sectors to go through. The task is always assigned to the closest free agent. On the local level, the actual path through the sector is planned using modi- fied Multi-agent path finding (MAPF) algorithms. The proposed algorithm was tested in a simulated environment. We showed that the hierarchical algorithm with Conflict-based search (CBS) on the local level has a smaller runtime and finds a solution with a lower makespan than the algorithm using reduction to SAT. Further, we showed that the hierar- chical approach for MAPD significantly lowers the runtime of the algorithm, meanwhile, the outputted solutions are not much worse than for non-hierarchical approaches. 1
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