Multi-Agent Pickup and Delivery with Batteries

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Marcello Bavaro, Francesco Amigoni

Published: 01 Jan 2025, Last Modified: 25 Sept 2025AAMAS 2025EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: In Multi-Agent Pickup and Delivery (MAPD), a group of moving agents plan coordinated paths to execute pickup and delivery tasks appearing online in a known environment. The typical application of MAPD is in warehouses, where the agents are mobile robots powered by batteries. Current research on MAPD does not fully take into account the need for the agents to recharge their batteries when planning paths. In this paper, we study a variant of the MAPD problem, called MAPD-b, which considers battery consumption and charging stations, and we propose an algorithm to solve it.