Dynamic Multi-Agent Pickup and Delivery in Robotic Cellular Warehousing Systems

Abstract:Robotic Cellular Warehousing Systems (RCWS) give rise to multi-agent pickup and delivery (MAPD) processes in which robots sequentially collect multiple stock-keeping units (SKUs) for each order. Unlike classical MAPD formulations that assume static tasks, real warehouse operations often involve dynamic order evolution, where new SKUs may be appended to an order while it is being executed. Motivated by this practical requirement, this letter formulates the Dynamic Multi-Agent Pickup and Delivery problem considering internal order evolution for the first time. Building on the token passing (TP) mechanism, we propose two event-triggered online replanning algorithms. The first, Dynamic-TP, enables an event-triggered dynamic response by allowing robots to replan from their current execution states through priority-aware token acquisition after order updates. The second, Cooperative-TP, further enables idle robots to assist newly added SKUs while preserving the original order ownership. Simulation results demonstrate that the proposed methods significantly reduce order flowtime compared with static and non-cooperative baselines, thereby improving system-level efficiency in RCWS.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2606.05669 [cs.RO]

(or arXiv:2606.05669v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.05669 Focus to learn more arXiv-issued DOI via DataCite

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.