マルチエージェント経路探索における衝突回避と経路計画：多目的メタヒューリスティクスを用いたロボット移動フルフィルメントシステム
Collision avoidance and path finding in a robotic mobile fulfillment system using multi-objective meta-heuristics
AGVの衝突回避とタスク割り当てにおいて、エネルギー消費と移動時間を考慮した多目的メタヒューリスティクス（NSGAとALNS）を提案し、既存手法より優れることを示した。
著者: Ahmad Kokhahi, Mary Kurz
分類: cs.RO, math.OC
原文アブストラクト
Multi-Agent Path Finding (MAPF) has gained significant attention, with most research focusing on minimizing collisions and travel time. This paper also considers energy consumption in the path planning of automated guided vehicles (AGVs). It addresses two main challenges: i) resolving collisions between AGVs and ii) assigning tasks to AGVs. We propose a new collision avoidance strategy that takes both energy use and travel time into account. For task assignment, we present two multi-objective algorithms: Non-Dominated Sorting Genetic Algorithm (NSGA) and Adaptive Large Neighborhood Search (ALNS). Comparative evaluations show that these proposed methods perform better than existing approaches in both collision avoidance and task assignment.