Lifelong Scalable Multi-Agent Realistic Testbed and A Comprehensive Study on Design Choices in Lifelong AGV Fleet Management Systems

TL;DR

This paper introduces LSMART, an open-source simulator for evaluating multi-agent pathfinding algorithms in lifelong fleet management systems for AGVs, addressing complex real-world considerations like kinodynamics and communication delays.

Contribution

The paper presents LSMART, a comprehensive simulation platform that enables evaluation of MAPF algorithms in realistic, lifelong fleet management scenarios with various design choices.

Findings

Guidance on effective design choices for lifelong AGV fleet management systems.

Evaluation of state-of-the-art MAPF methods under realistic conditions.

Insights into planning, recovery, and coordination strategies in FMS.

Abstract

We present Lifelong Scalable Multi-Agent Realistic Testbed (LSMART), an open-source simulator to evaluate any Multi-Agent Path Finding (MAPF) algorithm in a Fleet Management System (FMS) with Automated Guided Vehicles (AGVs). MAPF aims to move a group of agents from their corresponding starting locations to their goals. Lifelong MAPF (LMAPF) is a variant of MAPF that continuously assigns new goals for agents to reach. LMAPF applications, such as autonomous warehouses, often require a centralized, lifelong system to coordinate the movement of a fleet of robots, typically AGVs. However, existing works on MAPF and LMAPF often assume simplified kinodynamic models, such as pebble motion, as well as perfect execution and communication for AGVs. Prior work has presented SMART, a software capable of evaluating any MAPF algorithms while considering agent kinodynamics, communication delays, and execution uncertainties. However, SMART is designed for MAPF, not LMAPF. Generalizing SMART to an FMS requires many more design choices. First, an FMS parallelizes planning and execution, raising the question of when to plan. Second, given planners with varying optimality and differing agent-model assumptions, one must decide how to plan. Third, when the planner fails to return valid solutions, the system must determine how to recover. In this paper, we first present LSMART, an open-source simulator that incorporates all these considerations to evaluate any MAPF algorithms in an FMS. We then provide experiment results based on state-of-the-art methods for each design choice, offering guidance on how to effectively design centralized lifelong AGV Fleet Management Systems. LSMART is available at https://smart-mapf.github.io/lifelong-smart.