July 7, 2020 Conference paper Open Access

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

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{
  "inLanguage": {
    "alternateName": "eng", 
    "@type": "Language", 
    "name": "English"
  }, 
  "description": "<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>", 
  "license": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "Institute of Systems Analysis of Russian Academy of Sciences, Russian Federation", 
      "@id": "https://orcid.org/0000-0002-4377-321X", 
      "@type": "Person", 
      "name": "Yakovlev, Konstantin"
    }, 
    {
      "affiliation": "Federal Reseach Center for Computer Science and Control of Russian Academy of Sciences, Russia, Peoples' Friendship University of Russia (RUDN), Russia", 
      "@id": "https://orcid.org/0000-0001-5320-4603", 
      "@type": "Person", 
      "name": "Andreychuk, Anton"
    }, 
    {
      "affiliation": "Czech Technical University in Prague, Czech Republic", 
      "@id": "https://orcid.org/0000-0002-5019-9260", 
      "@type": "Person", 
      "name": "Rybeck\u00fd, Tom\u00e1\u0161"
    }, 
    {
      "affiliation": "Czech Technical University in Prague, Czech Republic", 
      "@id": "https://orcid.org/0000-0002-0997-5889", 
      "@type": "Person", 
      "name": "Kulich, Miroslav"
    }
  ], 
  "headline": " On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem", 
  "image": "https://zenodo.org/static/img/logos/zenodo-gradient-round.svg", 
  "datePublished": "2020-07-07", 
  "url": "https://zenodo.org/record/4432280", 
  "@context": "https://schema.org/", 
  "identifier": "https://doi.org/10.5220/0009888905210528", 
  "@id": "https://doi.org/10.5220/0009888905210528", 
  "@type": "ScholarlyArticle", 
  "name": " On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem"
}