Solving an Industrial-Scale Warehouse Delivery Problem with Answer Set Programming Modulo Difference Constraints

A warehouse delivery problem consists of a set of robots that undertake delivery jobs within a warehouse. Items are moved around the warehouse in response to events. A solution to a warehouse delivery problem is a collision-free schedule of robot movements and actions that ensures that all delivery...

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Vydáno v:Algorithms Ročník 16; číslo 4; s. 216
Hlavní autoři: Rajaratnam, David, Schaub, Torsten, Wanko, Philipp, Chen, Kai, Liu, Sirui, Son, Tran Cao
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 01.04.2023
Témata:
answer set programming
answer set programming modulo theories
Collision avoidance
Declarative programming
Graph theory
hybrid reasoning
Mathematical programming
multi-agent path finding
multi-agent planning
Multiagent systems
Pallets
Robot dynamics
Robots
Scheduling
Variables
Warehouse stores
Warehouses
Germany
ISSN:1999-4893, 1999-4893
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Shrnutí:A warehouse delivery problem consists of a set of robots that undertake delivery jobs within a warehouse. Items are moved around the warehouse in response to events. A solution to a warehouse delivery problem is a collision-free schedule of robot movements and actions that ensures that all delivery jobs are completed and each robot is returned to its docking station. While the warehouse delivery problem is related to existing research, such as the study of multi-agent path finding (MAPF), the specific industrial requirements necessitated a novel approach that diverges from these other approaches. For example, our problem description was more suited to formalizing the warehouse in terms of a weighted directed graph rather than the more common grid-based formalization. We formalize and encode the warehouse delivery problem in Answer Set Programming (ASP) extended with difference constraints. We systematically develop and study different encoding variants, with a view to computing good quality solutions in near real-time. In particular, application specific criteria are contrasted against the traditional notion of makespan minimization as a measure of solution quality. The encoding is tested against both crafted and industry data and experiments run using the Hybrid ASP solver clingo[dl].
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ISSN:1999-4893
1999-4893
DOI:10.3390/a16040216