Warehouse model for interaction planning of mobile robots

The paper presents the construction of low-cost real life warehouse model that can be used for solving problems of planning in a multi-agent environment that allows competitive (selfish) and cooperative solutions. The warehouse model is created with use of 3D printed elements. System consists of multiple mobile robots that are capable of moving forward and backwards along a tracks, rotate on a turntables, grab items, detect their position and refer to graphical topological model of the warehouse. Each robot is controlled individually and the task is to move packages among the warehouse. System allows many planning algorithms to be testes on this environment. In this paper, the problem of cooperative and competitive algorithms are described. The proposed planning algorithms uses PDDL and properly tuned heuristic function that utilizes the model's topology graph weights as costs.