July 7, 2020 Conference paper Open Access

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

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  <identifier identifierType="URL">https://zenodo.org/record/4432280</identifier>
  <creators>
    <creator>
      <creatorName>Yakovlev, Konstantin</creatorName>
      <givenName>Konstantin</givenName>
      <familyName>Yakovlev</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-4377-321X</nameIdentifier>
      <affiliation>Institute of Systems Analysis of Russian Academy of Sciences, Russian Federation</affiliation>
    </creator>
    <creator>
      <creatorName>Andreychuk, Anton</creatorName>
      <givenName>Anton</givenName>
      <familyName>Andreychuk</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-5320-4603</nameIdentifier>
      <affiliation>Federal Reseach Center for Computer Science and Control of Russian Academy of Sciences, Russia, Peoples' Friendship University of Russia (RUDN), Russia</affiliation>
    </creator>
    <creator>
      <creatorName>Rybecký, Tomáš</creatorName>
      <givenName>Tomáš</givenName>
      <familyName>Rybecký</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-5019-9260</nameIdentifier>
      <affiliation>Czech Technical University in Prague, Czech Republic</affiliation>
    </creator>
    <creator>
      <creatorName>Kulich, Miroslav</creatorName>
      <givenName>Miroslav</givenName>
      <familyName>Kulich</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-0997-5889</nameIdentifier>
      <affiliation>Czech Technical University in Prague, Czech Republic</affiliation>
    </creator>
  </creators>
  <titles>
    <title> On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2020</publicationYear>
  <dates>
    <date dateType="Issued">2020-07-07</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="ConferencePaper"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/4432280</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.5220/0009888905210528</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://zenodo.org/communities/safelog</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;In this paper, we address the multi-agent pickup and delivery problem, a variant of multi-agent path finding.&lt;br&gt;
Specifically, we decouple the problem into two parts: task allocation and path planning. We employ the&lt;br&gt;
any-angle safe-interval path planning algorithm introduced in our recent work and study the performance&lt;br&gt;
of several task allocation strategies. Furthermore, the proposed approach has been integrated into a control&lt;br&gt;
system to verify its feasibility in deployment on real robots. A key part of the system is a visual localization&lt;br&gt;
system which is based on the detection of unique artificial markers placed in the working environment. The&lt;br&gt;
conducted experiments show that generated plans can be safely executed on a real system.&lt;br&gt;
&amp;nbsp;&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/688117/">688117</awardNumber>
      <awardTitle>Safe human-robot interaction in logistic applications for highly flexible warehouses</awardTitle>
    </fundingReference>
  </fundingReferences>
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