CREST: Constraint-Release Execution for Multi-Robot Warehouse Shelf Rearrangement
Double-Deck Multi-Agent Pickup and Delivery (DD-MAPD) models the multi-robot shelf rearrangement problem in automated warehouses. MAPF-DECOMP is a recent framework that first computes collision-free shelf trajectories with a MAPF solver and then assigns agents to execute them. While efficient, it enforces strict trajectory dependencies, often leading to poor execution quality due to idle agents and unnecessary shelf switching. We introduce CREST, a new execution framework that achieves more continuous shelf carrying by proactively releasing trajectory constraints during execution. Experiments on diverse warehouse layouts show that CREST consistently outperforms MAPF-DECOMP, reducing metri...
| Authors | Jiaqi Tan, Yudong Luo, Sophia Huang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 27 March 2026 |
| Last updated at source | 27 March 2026 |
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