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

Abstract

We address a variant of multi-agent pickup and delivery problem and decouple 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.

Paper Citation

in Harvard Style

Yakovlev K., Andreychuk A., Rybecký T. and Kulich M. (2020). On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 521-528. DOI: 10.5220/0009888905210528

in Bibtex Style

@conference{icinco20,
author={Konstantin Yakovlev and Anton Andreychuk and Tomáš Rybecký and Miroslav Kulich},
title={On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={521-528},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009888905210528},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem
SN - 978-989-758-442-8
AU - Yakovlev K.
AU - Andreychuk A.
AU - Rybecký T.
AU - Kulich M.
PY - 2020
SP - 521
EP - 528
DO - 10.5220/0009888905210528