July 7, 2020 Conference paper Open Access

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

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    <subfield code="u">Federal Reseach Center for Computer Science and Control of Russian Academy of Sciences, Russia, Peoples' Friendship University of Russia (RUDN), Russia</subfield>
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    <subfield code="a">Andreychuk, Anton</subfield>
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    <subfield code="a">Rybecký, Tomáš</subfield>
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    <subfield code="u">Institute of Systems Analysis of Russian Academy of Sciences, Russian Federation</subfield>
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    <subfield code="a">Yakovlev, Konstantin</subfield>
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  <datafield tag="245" ind1=" " ind2=" ">
    <subfield code="a"> On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem</subfield>
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    <subfield code="a">Safe human-robot interaction in logistic applications for highly flexible warehouses</subfield>
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    <subfield code="a">&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;</subfield>
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