Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery
文献类型：会议论文
| 作者 | Nie ZB(聂振邦)1,2,3,4 ; Zeng P(曾鹏)1,2,3,4; YU HB(于海斌)1,2,3,4
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| 出版日期 | 2020 |
| 会议日期 | August 22-24, 2020 |
| 会议地点 | Hefei, China |
| 关键词 | Multi-Agent Pickup and Delivery Multi-Agent Path Finding Decoupled Path Planning |
| 页码 | 2667-2672 |
| 英文摘要 | Continuous MAPD (Multi-Agent Pickup and Delivery) problem is widely encountered in material transportation systems. TP (Token Passing) is a conflict-free, deadlock-free algorithm for continuous MAPD problems. However, when TP is used, the number of tasks simultaneously handled by agents is limited by the number of task endpoint locations. To solve this problem, ITP (Improved Token Passing) is proposed in this paper. An extra path planning procedure is introduced to improve agent utilization. A complete and optimal A∗-based algorithm is designed to solve the low level single agent path planning problem. ITP increases system throughput by exploiting all available agents, and remains conflict-free and deadlock-free. Experiment result shows that ITP outperforms TP in terms of system makespan under heavy workload in congested workspace. |
| 源文献作者 | IEEE Control Systems Society (CSS) ; Northeastern University ; State Key Laboratory of Synthetical Automation for Process Industries ; Technical Committee on Control Theory, Chinese Association of Automation |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-5854-9 |
| WOS记录号 | WOS:000621616902137 |
| 源URL | [http://ir.sia.cn/handle/173321/27698]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Nie ZB(聂振邦); Zeng P(曾鹏); YU HB(于海斌) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110017, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110179, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Key Laboratory of Networked Control Systems Chinese Academy of Sciences, Shenyang 110017, China |
| 推荐引用方式 GB/T 7714 | Nie ZB,Zeng P,YU HB. Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery[C]. 见:. Hefei, China. August 22-24, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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