Sorting Space Configuration Comparison for the Multi-Agent Robotic Sorting System*

Multi-agent robotic sorting systems configuration comparison is proposed in this paper. Sorting system provide item sorting task for managed fleet of robotic agents and it’s path planning on sorting space graph in real time. State-of-art multi-agent path finding algorithm generate deadlock-free scheduling to perform sorting tasks. Throughput comparison research for the different configurations of sorting space is conducted. In this paper we study the throughput of three sorting space configurations with sorting center model. Robotics agent model, sorting space model and sorting system models provide the environment for the fleet management system. Each agent receives an action sequence from scheduling system, which takes into account the movement, the tasks of all robotic agents and the states of the sorting system environment for specific sorting center configuration. The throughput of the sorting center is estimated. Configurations represent different approaches to sorting center space organization.