最大容量でのマルチロボット順序付き保管・取り出しのための完全かつスケーラブルで堅牢な優先度付き計画
Complete, Scalable, and Robust Prioritized Planning for Multi-Robot Ordered Storage and Retrieval at Maximum Capacity
高密度倉庫におけるパズルベース保管システムで、複数ロボットのデッドロックを回避しつつ、順序付きの保管・取り出しを効率的に実行する優先度付き経路計画アルゴリズムを提案した。
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著者: William Zhang, Tzvika Geft, Jingjin Yu, Kostas Bekris
分類: cs.RO, cs.AI, cs.MA
原文アブストラクト
Automated warehouses face a fundamental trade-off between maximizing storage density and achieving high retrieval throughput. While puzzle-based storage (PBS) architectures increase capacity by eliminating aisles, coordinating multiple robots in these high-density spaces is computationally challenging due to the potential for deadlocks. This paper introduces a novel multi-robot formulation for the ``ordered storage and retrieval problem at maximum capacity''. The focus is on rectangular grids accessible from a single boundary, where loads need to be first stored up to full capacity and then efficiently retrieved, given a planned departure sequence. This work bridges the gap between geometric feasibility and execution efficiency by leveraging the properties of relocation-free arrangements. These properties guide an online, prioritized multi-agent path-finding algorithm, which is the main contribution of this work. Unlike general centralized planners, the approach exploits the specific invariants of the storage arrangement to guarantee completeness and prevent deadlocks, enabling scalability. Experiments demonstrate that the method achieves near-linear improvement in makespan with respect to the number of robots, up to $m = C$, where $C$ is the grid width. Crucially, the algorithmic overhead of supporting robustness is negligible; the system handles uncertainty in departure sequences using robust storage arrangements with no significant penalty in execution speed compared to the non-robust baseline.