Multi-robot path finding and coordination is one of the key performance-affecting subsystems of the overall robotic order fulfilment process for use in warehouse applications. The purpose of path finding and coordination is to plan and coordinate the motions of multi-robot systems such that all robots reach their assigned goals safely. Much research has focused on solving the multi-robot path finding problem in a general way. As a result, researchers have considered a system-wide goal state where all robots are at their goal destinations in some final time. In this paper, a novel algorithm is designed specifically for order fulfilment used in warehouse applications. The key assumption is that all robots do not necessarily need to be at their destination locations at the same time. The resulting solution is referred to as visiting pebble motion on rectangular grids. More specifically, a starvation-free, semi-decentralized, scalable multi-robot coordination algorithm is presented. The proposed algorithm takes the constraints of real robot dynamics and collision avoidance into account and is capable of operating under asynchronous conditions while providing analytical performance guarantees.

多机器人路径查找和协调是在仓库应用中使用的整个机器人订单履行过程中影响性能的关键子系统之一。路径查找和协调的目的是计划和协调多机器人系统的运动，以使所有机器人安全地达到其分配的目标。许多研究集中于以一般方式解决多机器人路径查找问题。结果，研究人员考虑了整个系统的目标状态，在该状态下，所有机器人都将在最后一个时间到达目标位置。在本文中，专门针对仓库应用中的订单履行设计了一种新颖的算法。关键假设是，所有机器人不一定都必须同时在其目的地。所得的解决方案称为矩形网格上的访问卵石运动。更具体地说，提出了一种无饥饿，半分散，可扩展的多机器人协调算法。提出的算法考虑了实际机器人动力学和避免碰撞的约束，并且能够在异步条件下运行，同时提供了分析性能保证。