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Path planning in the multi-robot system refers to calculating a set ofactions for each robot, which will move each robot to its goal withoutconflicting with other robots. Lately, the research topic has receivedsignificant attention for its extensive applications, such as airport ground,drone swarms, and automatic warehouses. Despite these available researchresults, most of the existing investigations are concerned with the cases ofrobots with a fixed movement speed without considering uncertainty. Therefore,in this work, we study the problem of path-planning in the multi-robotautomatic warehouse context, which considers the time-varying and uncertainrobots' movement speed. Specifically, the path-planning module searches a pathwith as few conflicts as possible for a single agent by calculating trafficcost based on customarily distributed conflict probability and combining itwith the classic A* algorithm. However, this probability-based method cannoteliminate all conflicts, and speed's uncertainty will constantly cause newconflicts. As a supplement, we propose the other two modules. The conflictdetection and re-planning module chooses objects requiring re-planning pathsfrom the agents involved in different types of conflicts periodically by ourdesigned rules. Also, at each step, the scheduling module fills up the agent'spreserved queue and decides who has a higher priority when the same element isassigned to two agents simultaneously. Finally, we compare the proposedalgorithm with other algorithms from academia and industry, and the resultsshow that the proposed method is validated as the best performance.

Path Planning Considering Time-Varying and Uncertain Movement Speed in Multi-Robot Automatic Warehouses: Problem Formulation and Algorithm