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This paper proposes a control method for the multi-agent pickup and deliveryproblem (MAPD problem) by extending the priority inheritance with backtracking(PIBT) method to make it applicable to more general environments. PIBT is aneffective algorithm that introduces a priority to each agent, and at eachtimestep, the agents, in descending order of priority, decide their nextneighboring locations in the next timestep through communications only with thelocal agents. Unfortunately, PIBT is only applicable to environments that aremodeled as a bi-connected area, and if it contains dead-ends, such astree-shaped paths, PIBT may cause deadlocks. However, in the real-worldenvironment, there are many dead-end paths to locations such as the shelveswhere materials are stored as well as loading/unloading locations totransportation trucks. Our proposed method enables MAPD tasks to be performedin environments with some tree-shaped paths without deadlock while preservingthe PIBT feature; it does this by allowing the agents to have temporarypriorities and restricting agents' movements in the trees. First, wedemonstrate that agents can always reach their delivery without deadlock. Ourexperiments indicate that the proposed method is very efficient, even inenvironments where PIBT is not applicable, by comparing them with thoseobtained using the well-known token passing method as a baseline.

Deadlock-Free Method for Multi-Agent Pickup and Delivery Problem Using Priority Inheritance with Temporary Priority