Multi-Agent Pickup and Delivery with Task Deadlines

Authors

  • Xiaohu Wu Nanyang Technological University
  • Yihao Liu Nanyang Technological University
  • Xueyan Tang Nanyang Technological University
  • Wentong Cai Nanyang Technological University
  • Funing Bai NCS Group
  • Gilbert Khonstantine Nanyang Technological University
  • Guopeng Zhao NCS Group

Keywords:

Search In Robotics, Bounding And Pruning Techniques

Abstract

We study the multi-agent pickup and delivery problem with task deadlines, where a team of agents execute tasks with individual deadlines to maximize the number of tasks completed by their deadlines. We take an integrated approach that assigns and plans one task at a time taking into account the agent states resulting from all the previous task assignments and path planning. We define metrics to effectively determine which agent ought to execute a given task and which task is most worth assignment next. We leverage the bounding technique to greatly improve the computational efficiency.

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Published

2021-07-21