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Challenges in Multi-Robot Path Planning

Challenges in Multi-Robot Path Planning. Pete Wurman CTO. What is the Path Planning Challenge. > 1,000 robots Moving ~ 1m/s Discrete grid As dense as 1 robot for every 6 cells Online 5 min missions  3 new tasks per second Fan-in, Fan-out Patterns

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Challenges in Multi-Robot Path Planning

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  1. Challenges in Multi-Robot Path Planning Pete Wurman CTO

  2. What is the Path Planning Challenge • > 1,000 robots • Moving ~ 1m/s • Discrete grid • As dense as 1 robot for every 6 cells • Online • 5 min missions  3 new tasks per second • Fan-in, Fan-out Patterns • Robots carry pods to stations on perimeter • Return them to (different) empty spots in storage • Humans In the Loop • Imperfectly predictable human tasks at stations • Leads to imperfectly predictable release of pods • Release 1 pod every 6-12 seconds

  3. Challenge Problem

  4. Challenge Problem

  5. Coordinated Path Planning • How should the future paths of other robots play into the planning of a new path? • When they are converging on the same spots • When their performance varies • When the human is part of the plan • When new activities are starting frequently

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