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The paper presents LSMART, an open-source simulation framework designed to evaluate Multi-Agent Path Finding (MAPF) algorithms in lifelong fleet management settings, specifically for Automated Guided Vehicles (AGVs). Traditional MAPF research assumes idealized conditions — perfect execution, perfect communication, and static goals — which limits its applicability to real industrial systems like autonomous warehouses. To address this gap, the authors extend previous work by incorporating kinodynamic constraints, communication delays, and execution uncertainty, creating a more realistic testbed. LSMART generalizes the existing SMART simulator to lifelong scenarios where agents continually receive new goals over time, reflecting real operational environments. The paper introduces the architecture of LSMART and outlines how it supports different planning and execution strategies while handling failures or delays in planning and control. Using LSMART, the authors conduct an extensive set of experiments comparing state-of-the-art planners and design choices across key components of a Fleet Management System (FMS). They analyze when and how planners should be invoked, how to choose strategies given planner optimality and model assumptions, and how to manage failures in generating valid solutions. Their results provide practical guidance for designing centralized lifelong AGV fleet systems, highlighting trade-offs between performance, robustness, and computational cost. The testbed and findings aim to bridge the gap between theoretical MAPF research and real-world deployment of multi-robot systems. https://lnkd.in/g8MmEVTk
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Day 2 At ROSCon India continues with strong interest in industrial-scale autonomous mobility. Today, we’re highlighting AMR 50 by Virya AI - A ROS-powered autonomous mobile robot engineered to tow up to 8,000 kg while operating seamlessly across indoor and outdoor environments. 🚀 What visitors explored today: Heavy-duty autonomous towing and auto-hitching Manual ↔ autonomous mode flexibility for real operations Designing ROS-based SW AMRs for demanding industrial conditions 💡 Key takeaway: Building autonomy at scale requires robustness, safety, and thoughtful system integration - principles that guide our AMR platforms. 🎥 Watch the AMR 50 in action: https://lnkd.in/gFppM3rz #Virya #Maini #AdaptiveAutonomy #AMR50 #ROSConIndia #AutonomousMobileRobot #IndustrialAutomation #AuRoAlliance
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