论文标题
建立安全有效的群体合作：分层的多代理拾音器和交付框架
Towards Safe and Efficient Swarm-Human Collaboration: A Hierarchical Multi-Agent Pickup and Delivery framework
论文作者
论文摘要
在智能存储系统（ISSS）的领域中，多代理拾取和交付（MAPD）问题至关重要，在智能存储系统（ISS）的领域中，多个机器人被分配了时间变化，异质性和潜在的不确定任务。当涉及人类处理的混合系统（（HS）$ _ 2 $）时，机器人和人工工人将在协作中完成MAPD任务。本文中，我们提出了人类处理的混合系统拾取和交付（（（HS）$ _ 2 $ PD）框架，这在未来的ISS中占主导地位。根据人类行为的不可预测性和任务的动态变化，建立了基于预测范围窗口的两层决策框架。第一层是解决模式分配和TA问题的两级编程问题。第二层通过求解混合智能编程（MIP）问题，专用于每个代理的确切路径。总结了（HS）$ _ 2 $ PD问题的集成算法。上述算法的实用性和有效性通过数值模拟示例（HS）$ _ 2 $ PD任务说明。
The multi-Agent Pickup and Delivery (MAPD) problem is crucial in the realm of Intelligent Storage Systems (ISSs), where multiple robots are assigned with time-varying, heterogeneous, and potentially uncertain tasks. When it comes to Human-Swarm Hybrid System ((HS)$_2$), robots and human workers will accomplish the MAPD tasks in collaboration. Herein, we propose a Human-Swarm Hybrid System Pickup and Delivery ((HS)$_2$PD) framework, which is predominant in future ISSs. A two-layer decision framework based on the prediction horizon window is established in light of the unpredictability of human behavior and the dynamic changes of tasks. The first layer is a two-level programming problem to solve the problems of mode assignment and TA. The second layer is devoted to the exact path of each agent via solving mixed-integer programming (MIP) problems. An integrated algorithm for the (HS)$_2$PD problem is summarized. The practicality and validity of the above algorithm are illustrated via a numerical simulation example towards (HS)$_2$PD tasks.
