Receding Horizon Re-ordering of Multi-Agent Execution Schedules

The trajectory planning for a fleet of (AGVs) on a roadmap is commonly referred to as the MAPF problem, the solution to which dictates each AGV's spatial and temporal location until it reaches its goal without collision. When executing MAPF plans in dynamic workspaces, AGVs can be frequently de...

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Bibliographic Details
Published inIEEE transactions on robotics Vol. 40; pp. 1 - 17
Main Authors Berndt, Alexander, van Duijkeren, Niels, Palmieri, Luigi, Kleiner, Alexander, Keviczky, Tamas
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
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Summary:The trajectory planning for a fleet of (AGVs) on a roadmap is commonly referred to as the MAPF problem, the solution to which dictates each AGV's spatial and temporal location until it reaches its goal without collision. When executing MAPF plans in dynamic workspaces, AGVs can be frequently delayed, e.g., due to encounters with humans or third-party vehicles. If the remainder of the AGVs keeps following their individual plans, synchrony of the fleet is lost and some AGVs may pass through roadmap intersections in a different order than originally planned. Although this could reduce the cumulative route completion time of the AGVs, generally, a change in the original ordering can cause conflicts such as deadlocks. In practice, synchrony is therefore often enforced by using a MAPF execution policy employing, e.g., an (ADG) to maintain ordering. To safely re-order without introducing deadlocks, we present the concept of the (SADG). Using the SADG, we formulate a comparatively low-dimensional MILP that repeatedly re-orders AGVs in a recursively feasible manner, thus maintaining deadlock-free guarantees, while dynamically minimizing the cumulative route completion time of all AGVs. Various simulations validate the efficiency of our approach when compared to the original ADG method as well as robust MAPF solution approaches.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2023.3344051