具有缓冲区受限交接站的终身多子系统取货与送货
Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations
- Robert Bosch GmbH（罗伯特·博世有限公司）
- Technical University of Berlin（柏林工业大学）
- Robotics Institute Germany (RIG)（德国机器人研究所）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
研究终身多子系统取货与送货中协调子系统载荷转移的问题，提出交接感知预留与路由（HARR）方法，通过共享日历和缓冲区预测协调行动，模拟显示该方法能显著提高吞吐量、减少积压并降低规划时间，提升运输稳定性。
AI中文摘要：
在终身多智能体取货与送货（MAPD）中，协调子系统间的有效载荷转移是一项关键挑战。我们研究了智能体局限于不同区域且必须通过共享交接站交换有效载荷的系统。这些配备单个码头和有限缓冲区的交接站易受阻塞和饥饿影响。我们将此问题形式化为具有缓冲区受限交接站的多子系统MAPD（MS-MAPD-BHS）。接着提出了交接感知预留与路由（HARR），一种在线控制器，它将每个子系统的规划器耦合起来。HARR使用共享码头预留日历和缓冲区占用的确定性滚动时域预测来协调行动。只有当其码头间隔空闲且缓冲区占用预测仍在容量范围内时，候选路线才会被接受。在模拟中，与固定码头消融相比，HARR在中等负载下吞吐量提高高达77%，积压减少92%，同时相对于耦合的站点感知令牌传递基线减少了规划时间。这些结果表明，明确的接口协调显著提高了模块化多子系统运输的稳定性。
英文摘要：
Coordinating payload transfers between subsystems is a critical challenge in lifelong Multi-Agent Pickup and Delivery (MAPD). We study systems where agents are confined to separate regions and must exchange payloads through shared handover stations. These stations, equipped with single docks and finite buffers, are inherently vulnerable to blocking and starvation. We formalize this problem as Multi-Subsystem MAPD with Buffer-limited Handover Stations (MS-MAPD-BHS). We then propose Handover-Aware Reservation and Routing (HARR), an online controller that couples per-subsystem planners. HARR uses a shared dock reservation calendar and a deterministic rolling-horizon projection of buffer occupancy to coordinate actions. A candidate route is accepted only if its dock interval is free and the resulting buffer occupancy projection remains within capacity. Under perfect execution, these checks ensure collision-free dock use and buffer-safe committed operations within the reservation horizon. In simulation, HARR achieves up to 77% higher throughput and 92% lower backlog than a fixed-dock ablation at moderate load, while also reducing planning time relative to a coupled station-aware Token Passing baseline. These results show that explicit interface coordination substantially improves stability in modular multi-subsystem transport.
