Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery

Nie, Zhenbang; Zeng, Peng; Yu, Haibin

doi:10.1109/ccdc49329.2020.9164394

Cited by 2 publications

(4 citation statements)

References 7 publications

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“…Previous studies have focused on deadlock avoidance in the MAPD problem [11,13,16,19], similar to our approach. For example, HTE [11,13] method assumes that the environment has many endpoints where agents can remain for a finite length of time; otherwise, the performance will decrease because fewer tasks can be executed in parallel.…”

Section: Related Workmentioning

confidence: 99%

“…By contrast, RDP [13] always reserves dummy paths to the unique parking location of each agent to allow the agents to conduct their tasks with the same endpoint simultaneously; hence, numerous detours whose lengths are almost identical are necessary for achieving efficiency. However, our environment is maze-like and has fewer endpoints, and thus the use of endpoints is limited [19]. It also has a limited number of detours whose lengths may differ considerably.…”

Section: Related Workmentioning

confidence: 99%

“…There have been many studies focusing on MAPF/MAPD problems [11,13,14,16,19,21,28], and their results have been used in real-world applications. With these applications, generating plans without collisions and deadlocks becomes the central issue.…”

Section: Introductionmentioning

confidence: 99%

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Standby-Based Deadlock Avoidance Method for Multi-Agent Pickup and Delivery Tasks

Yamauchi¹,

Miyashita²,

Sugawara³

2022

Preprint

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The multi-agent pickup and delivery (MAPD) problem, in which multiple agents iteratively carry materials without collisions, has received significant attention. However, many conventional MAPD algorithms assume a specifically designed grid-like environment, such as an automated warehouse. Therefore, they have many pickup and delivery locations where agents can stay for a lengthy period, as well as plentiful detours to avoid collisions owing to the freedom of movement in a grid. By contrast, because a maze-like environment such as a search-and-rescue or construction site has fewer pickup/delivery locations and their numbers may be unbalanced, many agents concentrate on such locations resulting in inefficient operations, often becoming stuck or deadlocked. Thus, to improve the transportation efficiency even in a maze-like restricted environment, we propose a deadlock avoidance method, called standbybased deadlock avoidance (SBDA). SBDA uses standby nodes determined in real-time using the articulation-point-finding algorithm, and the agent is guaranteed to stay there for a finite amount of time. We demonstrated that our proposed method outperforms a conventional approach. We also analyzed how the parameters used for selecting standby nodes affect the performance.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Standby-Based Deadlock Avoidance Method for Multi-Agent Pickup and Delivery Tasks

Yamauchi¹,

Miyashita²,

Sugawara³

2022

Preprint

View full text Add to dashboard Cite

show abstract

“…The studies of the path planning for pickup delivery tasks include picking it up from one point and delivering it to the other (from a point to another point) for vehicles in the literature (Liu et al ,2019; Nie et al , 2020). In these studies, the most suitable route between two points is obtained and there is no obligation to go to any point other than the start-end points.…”

Section: Introductionmentioning

confidence: 99%

A novel conflict free routing with multi pickup delivery tasks for autonomous vehicles

Sarıçiçek

Yazıcı

Aslan

2023

RIA

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Purpose This study aims to propose a novel method for the conflict detection and eradication of autonomous vehicles which has predetermined routes to establish multi pickup and delivery tasks according to task priorities and vehicle capacity status on each pickup and delivery nodes in assembly cells in the automotive production. Design/methodology/approach In the designed system, the routing of autonomous vehicles (AVs) and scheduling of pickup and delivery tasks are established in production logistics. Gantt chart is created according to vehicle routes, and conflicts are detected using the proposed conflict-sweep algorithm. The proposed conflict-solving algorithm eliminates conflicts on intersections and roads by considering vehicle routes and task priorities. Findings In many production systems, there is a need to obtain flexible routes in each pickup delivery task group that changes during day, week, etc. Proposed system provides remarkable advantages in obtaining conflict-free routes for pre-scheduled multi transport tasks of vehicles by considering efficiency in production systems. Originality/value A novel method is proposed for the conflict detection and eradication of AVs. Proposed system eliminates conflicts on intersections and roads by considering pre-planned vehicle routes for a fleet of heterogeneous AVs. Unlike most of the other conflict-free algorithms, in which conflicts are solved between two points, proposed system also considers multi pickup and delivery points for AVs. This is pioneering paper that addresses conflict-free route planning with backhauls and scheduling of multi pickup and delivery tasks for AVs.

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Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery

Cited by 2 publications

References 7 publications

Standby-Based Deadlock Avoidance Method for Multi-Agent Pickup and Delivery Tasks

Standby-Based Deadlock Avoidance Method for Multi-Agent Pickup and Delivery Tasks

A novel conflict free routing with multi pickup delivery tasks for autonomous vehicles

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