论文标题
按下，停止和重新安排：卵石运动在图表上应用于自动仓库的计划
Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses
论文作者
论文摘要
图形上的卵石 - 动作是多代理探路问题的子类别，该问题是将多个卵石状对象从节点移动到图表中的节点，并带有约束，只有一个卵石才能在给定时间占据一个节点。此外，解决此问题的算法假定单个卵石（机器人）不能同时移动，并且它们的运动是离散的。这些假设取消了它们在实际应用中直接使用的资格，尽管它们具有很好的理论属性。我们介绍了推动和旋转算法[1]的修改，该算法放宽了上述假设，并通过一组实验证明了修改后的算法适用于自动仓库中的计划。
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time. Additionally, algorithms solving this problem assume that individual pebbles (robots) cannot move at the same time and their movement is discrete. These assumptions disqualify them from being directly used in practical applications, although they have otherwise nice theoretical properties. We present modifications of the Push and Rotate algorithm [1], which relax the presumptions mentioned above and demonstrate, through a set of experiments, that the modified algorithm is applicable for planning in automated warehouses.
