Persistent and Robust Execution of MAPF Schedules in Warehouses

@article{Hnig2019PersistentAR,
  title={Persistent and Robust Execution of MAPF Schedules in Warehouses},
  author={Wolfgang H{\"o}nig and Scott Kiesel and Andrew Tinka and Joseph W. Durham and Nora Ayanian},
  journal={IEEE Robotics and Automation Letters},
  year={2019},
  volume={4},
  pages={1125-1131}
}
Multi-agent path finding (MAPF) is a well-studied problem in artificial intelligence that can be solved quickly in practice when using simplified agent assumptions. However, real-world applications, such as warehouse automation, require physical robots to function over long time horizons without collisions. We present an execution framework that can use existing single-shot MAPF planners and ensures robust execution in the presence of unknown or time-varying higher-order dynamic limits… CONTINUE READING

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