Deadlock-Free Method for Multi-Agent Pickup and Delivery Problem Using Priority Inheritance with Temporary Priority

  title={Deadlock-Free Method for Multi-Agent Pickup and Delivery Problem Using Priority Inheritance with Temporary Priority},
  author={Yukita Fujitani and Tomoki Yamauchi and Yuki Miyashita and Toshiharu Sugawara},
  booktitle={International Conference on Knowledge-Based Intelligent Information \& Engineering Systems},
This paper proposes a control method for the multi-agent pickup and delivery problem (MAPD problem) by extending the priority inheritance with backtracking (PIBT) method to make it applicable to more general environments. PIBT is an e ff ective algorithm that introduces a priority to each agent, and at each timestep, the agents, in descending order of priority, decide their next neighboring locations in the next timestep through communications only with the local agents. Unfortunately, PIBT is… 

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