July 7, 2020 Conference paper Open Access

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

Dublin Core Export

<?xml version='1.0' encoding='utf-8'?>
<oai_dc:dc xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
  <dc:creator>Yakovlev, Konstantin</dc:creator>
  <dc:creator>Andreychuk, Anton</dc:creator>
  <dc:creator>Rybecký, Tomáš</dc:creator>
  <dc:creator>Kulich, Miroslav</dc:creator>
  <dc:date>2020-07-07</dc:date>
  <dc:description>In this paper, we address the multi-agent pickup and delivery problem, a variant of multi-agent path finding.
Specifically, we decouple the problem into two parts: task allocation and path planning. We employ the
any-angle safe-interval path planning algorithm introduced in our recent work and study the performance
of several task allocation strategies. Furthermore, the proposed approach has been integrated into a control
system to verify its feasibility in deployment on real robots. A key part of the system is a visual localization
system which is based on the detection of unique artificial markers placed in the working environment. The
conducted experiments show that generated plans can be safely executed on a real system.
 </dc:description>
  <dc:identifier>https://zenodo.org/record/4432280</dc:identifier>
  <dc:identifier>10.5220/0009888905210528</dc:identifier>
  <dc:identifier>oai:zenodo.org:4432280</dc:identifier>
  <dc:language>eng</dc:language>
  <dc:relation>info:eu-repo/grantAgreement/EC/H2020/688117/</dc:relation>
  <dc:relation>url:https://zenodo.org/communities/safelog</dc:relation>
  <dc:rights>info:eu-repo/semantics/openAccess</dc:rights>
  <dc:rights>https://creativecommons.org/licenses/by/4.0/legalcode</dc:rights>
  <dc:title> On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem</dc:title>
  <dc:type>info:eu-repo/semantics/conferencePaper</dc:type>
  <dc:type>publication-conferencepaper</dc:type>
</oai_dc:dc>