July 7, 2020 Conference paper Open Access

Yakovlev, Konstantin; Andreychuk, Anton; Rybecký, Tomáš; Kulich, Miroslav

Citation Style Language JSON Export

{
  "DOI": "10.5220/0009888905210528", 
  "language": "eng", 
  "author": [
    {
      "family": "Yakovlev, Konstantin"
    }, 
    {
      "family": "Andreychuk, Anton"
    }, 
    {
      "family": "Rybeck\u00fd, Tom\u00e1\u0161"
    }, 
    {
      "family": "Kulich, Miroslav"
    }
  ], 
  "issued": {
    "date-parts": [
      [
        2020, 
        7, 
        7
      ]
    ]
  }, 
  "abstract": "<p>In this paper, we address the multi-agent pickup and delivery problem, a variant of multi-agent path finding.<br>\nSpecifically, we decouple the problem into two parts: task allocation and path planning. We employ the<br>\nany-angle safe-interval path planning algorithm introduced in our recent work and study the performance<br>\nof several task allocation strategies. Furthermore, the proposed approach has been integrated into a control<br>\nsystem to verify its feasibility in deployment on real robots. A key part of the system is a visual localization<br>\nsystem which is based on the detection of unique artificial markers placed in the working environment. The<br>\nconducted experiments show that generated plans can be safely executed on a real system.<br>\n&nbsp;</p>", 
  "title": " On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem", 
  "type": "paper-conference", 
  "id": "4432280"
}