Published July 7, 2020 | Version v1
Conference paper Open

On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem

  • 1. Institute of Systems Analysis of Russian Academy of Sciences, Russian Federation
  • 2. Federal Reseach Center for Computer Science and Control of Russian Academy of Sciences, Russia, Peoples' Friendship University of Russia (RUDN), Russia
  • 3. Czech Technical University in Prague, Czech Republic


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.



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SafeLog – Safe human-robot interaction in logistic applications for highly flexible warehouses 688117
European Commission