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Multi-Agent PathFinding (MAPF) for 2D Robots moving inventory on a grid - Practice building environment + robots + planning + inventory management etc.

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Automated Warehouse & Multi-agent path planning

*The wiki contains the most recent information and videos (1K robots!) on this project.

What all goes into logistics? I explore this by building a simulated automated warehouse and the systems needed to consolidate orders with multiple agents.

We first assume a spherical cow / 2D grid world layout for the warehouse, we will have N robots that can move items from load zones to stations, and then a system for tracking incoming Orders and fulfilling them with those Robots.

This breaks up into two parts, the algorithm side (MAPF) and the logistics/database side (inventory management system / automated warehouse).

media_automated_warehouse_example5.mp4

Multi-Agent Path Planning (MAPF) multiagent_planner

Building a python module for finding paths in a 2D grid world for single and multiple agents simultaneously without collisions.

test1 animation

Automated Warehouse - Inventory Management System

Building a full stack warehouse inventory management system from the ground up.

  • Orders come in, which are requests for a set of items to be consolidated and shipped.
  • Stations are assigned orders to fulfill, which are broken down into a series of Tasks to move Items to that station.
  • The Robot Allocator takes available tasks and creates Jobs to move items from their pickup to the station, and assigns them to available Robots
  • The World Simulator simulates all of this, including robots being pathed through the warehouse avoiding obstacles and each other
  • A web interface shows live views of the warehouse inventory system (Orders/Stations & progress)
  • Another web interface shows a live view of the simulated warehouse, with the world setup and robots current position and their paths, as well as items they hold.

The automated warehouse project utilizes a system of Orders, Tasks, and Jobs managed by a Robot Allocator, which assigns Robots to efficiently transport Items from Item Zones to Stations for assembly and order fulfillment.

Example automated warehouse

A python module for tracking creating and tracking Orders, Items, Stations, and Tasks. IMS Web UI

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