Multi-agent pick and delivery with capacities: action planning vs path finding

Tajelipirbazari, Nima and Yıldırımoğlu, Çağrı Uluç and Sabuncu, Orkunt and Arici, Ali Can and Ozen, Idil Helin and Patoğlu, Volkan and Erdem, Esra (2022) Multi-agent pick and delivery with capacities: action planning vs path finding. In: 24th International Conference on Practical Aspects of Declarative Languages, PADL 2022, Philadelphia, PA, USA

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Motivated by autonomous warehouse applications in the real world, we study a variant of Multi-Agent Path Finding (MAPF) problem where robots also need to pick and deliver some items on their way to their destination. We call this variant the Multi-Agent Pick and Delivery with Capacities (MAPDC) problem. In addition to the challenges of MAPF (i.e., finding collision-free plans for each robot from an initial location to a destination while minimizing the maximum makespan), MAPDC asks also for the allocation of the pick and deliver tasks among robots while taking into account their capacities (i.e., the maximum number of items one robot can carry at a time). We study this problem with two different approaches, action planning vs path finding, using Answer Set Programming with two different computation modes, single-shot vs multi-shot.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: Action planning; Answer set programming; Multi-agent path finding; Pick and delivery with capacities
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 25 Aug 2022 20:58
Last Modified: 25 Aug 2022 20:58

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