Investigation of Heuristics for PIBT Solving Continuous MAPF Problem in Narrow Warehouse

Toshihiro Matsui

2024

Abstract

We address the heuristics based on map structures in a solution method for continuous multiagent path finding problems particularly in the case of relatively narrow warehouse maps. The multiagent pathfinding problem has been studied as a fundamental problem in multiagent systems, and the lifelong/continuous multiagent pickup-and-delivery problem is a major extension of it that represents the tasks performed by robot carriers in automated warehouses. While basic methods of multiagent pathfinding are generally aimed at resolving collisions among agents using precisely computed/reserved paths or locally performed resolving algorithms, there might also be opportunities to employ information of maps and traffic for the heuristics of solution methods. As such an investigation, we focus on the case of multiagent pickup-and-delivery problems in narrow warehouse environments and the solution method called Priority Inheritance with Backtracking (PIBT), which is not based on the reservation of paths and is applicable to continuous problems within very narrow maps. We experimentally investigate the effect of map settings and additional heuristics based on the structures of maps.

Paper Citation

in Harvard Style

Matsui T. (2024). Investigation of Heuristics for PIBT Solving Continuous MAPF Problem in Narrow Warehouse. In Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-680-4, SciTePress, pages 341-350. DOI: 10.5220/0012397900003636

in Bibtex Style

@conference{icaart24,
author={Toshihiro Matsui},
title={Investigation of Heuristics for PIBT Solving Continuous MAPF Problem in Narrow Warehouse},
booktitle={Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2024},
pages={341-350},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012397900003636},
isbn={978-989-758-680-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Investigation of Heuristics for PIBT Solving Continuous MAPF Problem in Narrow Warehouse
SN - 978-989-758-680-4
AU - Matsui T.
PY - 2024
SP - 341
EP - 350
DO - 10.5220/0012397900003636
PB - SciTePress