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Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to…
In a new type of automated parts-to-picker warehouse system - a Robotic Mobile Fulfillment System (RMFS) - robots are sent to transport pods (movable shelves) to human operators at stations to pick/put items from/to pods. There are many…
Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task…
This paper deals with a new type of warehousing system, Robotic Mobile Fulfillment Systems (RMFS). In such systems, robots are sent to carry storage units, so-called "pods", from the inventory and bring them to human operators working at…
In the era of digital commerce, the surge in online shopping and the expectation for rapid delivery have placed unprecedented demands on warehouse operations. The traditional method of order fulfilment, where human order pickers traverse…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
In this paper we investigate a problem associated with operating a robotic mobile fulfilment system (RMFS). This is the problem of allocating orders and mobile storage racks to pickers. We present a two-stage formulation of the problem. In…
Multi-Agent Path Finding (MAPF) is an important optimization problem underlying the deployment of robots in automated warehouses and factories. Despite the large body of work on this topic, most approaches make heavy simplifications, both…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
We study the combined problem of online task assignment and lifelong path finding, which is crucial for the logistics industries. However, most literature either (1) focuses on lifelong path finding assuming a given task assigner, or (2)…
Multi-robot systems in automated warehouses must manage continuous streams of pickup-and-delivery tasks while ensuring efficiency and safety. Prior work on Multi-Agent Pickup-and-Delivery (MAPD) has largely focused on the one-to-one…
E-commerce with major online retailers is changing the way people consume. The goal of increasing delivery speed while remaining cost-effective poses significant new challenges for supply chains as they race to satisfy the growing and…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
We consider a warehouse in which dozens of mobile robots and human pickers work together to collect and deliver items within the warehouse. The fundamental problem we tackle, called the order-picking problem, is how these worker agents must…
With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such…
Robotic mobile fulfillment systems (RMFSs) are a new type of warehousing system, which has received more attention recently, due to increasing growth in the e-commerce sector. Instead of sending pickers to the inventory area to search for…
Multi-agent pathfinding (MAPF) under one-shot planning is a core component of warehouse automation, yet classical formulations typically assume four-connected 2D grids with unit-time moves in four directions. To fill reality gaps while…
Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs) increasingly collaborate in logistics, surveillance, inspection tasks and etc. However, existing simulators often focus on a single domain, limiting cross-domain study.…