An Analysis of Rolling Horizon Multi-Agent Path Finding in Robotic Sorting Systems
Publication date
2023-09
Document type
Konferenzbeitrag
Author
Organisational unit
Conference
28th International Conference on Emerging Technologies and Factory Automation (ETFA) ; Sinaia, Romania, 12.-15. September 2023
Book title
2023 28th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Peer-reviewed
✅
Part of the university bibliography
✅
DDC Class
620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
600 Technik
000 Informatik, Wissen & Systeme
Keyword
Robotics
Multi-Agent path finding
Robotic sorting systems
Logistics
Abstract
The growth of parcel shipments for end-customer delivery led to the emergence of robotic sorting systems, which offer improved flexibility and cost-effectiveness compared to conveyor-based sorting systems. Controlling large fleets of mobile robots for sorting tasks remains a challenge, as it requires solving a complex multi-agent path finding problem. One possible solution is the recently introduced rolling horizon collision resolution framework, which is actively discussed in the literature. However, its configuration to suit robotic sorting systems concerning real-time capabilities and throughput is still the object of ongoing investigation. To address this research gap, this study investigates the application of the rolling horizon collision resolution framework on two types of robotic sorting systems and a parameter study is conducted to assess its potential in terms of real-time capability and sorting performance.
Version
Published version
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