Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations
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 occu...
| Authors | Chuanlong Zang, Isabelle Barz, Anna Mannucci et al. |
|---|---|
| Primary category | cs.RO |
| Published | 20 July 2026 |
| Last updated at source | 20 July 2026 |
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