解决多系统运输中缓冲站有限导致的阻塞问题，提升协同效率。
Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations
- 设计共享预约日历与缓冲预测机制，协调多子系统动作。
- 仿真中吞吐量提高77%，积压减少92%，规划时间更短。
- 适合模块化运输系统、需长期稳定协作的场景。
在终身多智能体拾取与配送（MAPD）系统中，协调子系统间的载荷传递是一项关键挑战。本文研究智能体被限制在独立区域，通过共享交接站交换载荷的系统。这些交接站配备单个泊位和有限缓冲区，易引发阻塞与饥饿。我们将其形式化为带缓冲限制交接站的多子系统MAPD（MS-MAPD-BHS）。提出一种在线控制器HARR，耦合各子系统规划器。HARR使用共享泊位预约日历和确定性滚动时域缓冲占用投影来协调行为。仅当泊位时段空闲且缓冲占用投影在容量范围内时，才接受候选路径。在理想执行下，这些检查确保了泊位无冲突使用和预留时段内缓冲安全操作。仿真结果显示，相较于固定泊位基线，HARR在中等负载下吞吐量提升77%，积压降低92%，同时规划时间低于耦合站感知的令牌传递基线。结果表明，显式接口协调显著提升了模块化多子系统运输的稳定性。
原文摘要 · Abstract (English)
Coordinating payload transfers between subsystems is a critical challenge in lifelong Multi-Agent Pickup and Delivery (MAPD). We study systems where agents are confined to separate regions and must exchange payloads through shared handover stations. These stations, equipped with single docks and finite buffers, are inherently vulnerable to blocking and starvation. We formalize this problem as Multi-Subsystem MAPD with Buffer-limited Handover Stations (MS-MAPD-BHS). We then propose Handover-Aware Reservation and Routing (HARR), an online controller that couples per-subsystem planners. HARR uses a shared dock reservation calendar and a deterministic rolling-horizon projection of buffer occupancy to coordinate actions. A candidate route is accepted only if its dock interval is free and the resulting buffer occupancy projection remains within capacity. Under perfect execution, these checks ensure collision-free dock use and buffer-safe committed operations within the reservation horizon. In simulation, HARR achieves up to 77% higher throughput and 92% lower backlog than a fixed-dock ablation at moderate load, while also reducing planning time relative to a coupled station-aware Token Passing baseline. These results show that explicit interface coordination substantially improves stability in modular multi-subsystem transport.
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