发表机构
Indian Institute of Technology Madras（印度马德拉斯理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
TRACS利用仓库几何结构构建单向通道路由图，简化多智能体路径规划，在千级机器人规模下实现100%成功率并大幅提升可扩展性。
AI 中文摘要
大规模仓库自动化依赖于高效的多智能体路径规划（MAPF），以在结构化环境中协调数千台机器人。现有的MAPF算法主要改进冲突解决，同时将仓库表示为通用导航图，忽略了其固有的几何结构和交通模式。本文提出了TRACS（交通感知路由与通道协调系统），一种几何感知规划框架，利用仓库布局来简化规划，而非引入另一种冲突解决算法。TRACS构建了一个带有交替单向通道的有向路由图，通过设计消除迎面冲突和边交换冲突，将空间路由与时间交通协调解耦。独立的混合图网格路由与轻量级基于边的调度相结合，避免联合时空搜索，同时确保无碰撞执行。在仓库基准上，与代表性的基于优先级、迭代修复和基于搜索的MAPF规划器进行的实验评估表明，TRACS始终达到100%的经验成功率，同时显著提高了规划可扩展性。在最多1000个机器人的固定场景基准上，TRACS将规划时间最多减少14.7倍，同时保持有竞争力的完工时间、更低的流动时间和接近最优的路径质量。在固定的10分钟规划预算下，TRACS可路由多达5120个机器人，约为最强基线所达到的最大车队规模的两倍，同时保持100%的成功率，证明了利用仓库几何实现可扩展机器人仓库系统的有效性。
英文摘要
Large scale warehouse automation relies on efficient multi agent path finding (MAPF) to coordinate thousands of robots in structured environments. Existing MAPF algorithms primarily improve conflict resolution while representing warehouses as generic navigation graphs, overlooking their inherent geometric structure and traffic patterns. This paper presents TRACS (Traffic aware Routing and Aisle Coordination System), a geometry aware planning framework that exploits warehouse layout to simplify planning rather than introducing another conflict-resolution algorithm. TRACS constructs a directed routing graph with alternating one way aisles that eliminates head on and edge swap conflicts by design, decoupling spatial routing from temporal traffic coordination. Independent hybrid graph grid routing is combined with lightweight edge based scheduling to avoid joint space time search while ensuring collision free execution. Experimental evaluation on warehouse benchmarks against representative priority based, iterative repair, and search based MAPF planners shows that TRACS consistently achieves a 100% empirical success rate while substantially improving planning scalability. On fixed scene benchmarks with up to 1000 robots, TRACS reduces planning time by up to 14.7X while maintaining competitive makespan, lower flowtime, and near optimal path quality. Under a fixed 10 minute planning budget, TRACS routes up to 5120 robots, roughly twice the largest fleet reached by the strongest baselines, while sustaining a 100% success rate, demonstrating the effectiveness of exploiting warehouse geometry for scalable robotic warehouse systems.
Comments9 pages, 6 figures, under review
