An Analysis of Rolling Horizon Multi-Agent Path Finding in Robotic Sorting Systems

The growth of parcel shipments for end-customer delivery led to the emergence of robotic sorting systems, which offer improved flexibility and cost-effectiveness compared to conveyor-based sorting systems. Controlling large fleets of mobile robots for sorting tasks remains a challenge, as it requires solving a complex multi-agent path finding problem. One possible solution is the recently introduced rolling horizon collision resolution framework, which is actively discussed in the literature. However, its configuration to suit robotic sorting systems concerning real-time capabilities and throughput is still the object of ongoing investigation. To address this research gap, this study investigates the application of the rolling horizon collision resolution framework on two types of robotic sorting systems and a parameter study is conducted to assess its potential in terms of real-time capability and sorting performance.