Planning and Control of Multiple Mobile Robots for Intralogistics: an optimization-based reordering strategy

In this thesis we consider multiple Automated Guided Vehicles (AGVs) navigating a common workspace to fulfill intralogistics tasks, typically formulated as the Multi-Agent Path Finding (MAPF) problem. To keep plan execution deadlock-free, one approach is to construct an Action Dependency Graph (ADG) which encodes the ordering of AGVs as they...