From Real-Time Planning to Reliable Execution:Scalable Coordination for Heterogeneous Multi-Robot Fleets in Industrial Environments

• URL: http://arxiv.org/abs/2607.00591v2
• Date: Fri, 03 Jul 2026 11:47:03 GMT
• Title: From Real-Time Planning to Reliable Execution:Scalable Coordination for Heterogeneous Multi-Robot Fleets in Industrial Environments
• Abstract summary: This paper presents a reactive online coordination framework that enables real-time planning while maintaining robust execution.<n>We introduce a motion-induced conflict reduction mechanism to support the online generation of feasible paths for online conflict resolution.<n>To mitigate the effects of disturbances, we further design a generalized Conjugate Action-Precedence Hypergraph.
• Score: 1.4860612474543247
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: With the increasing deployment of heterogeneous robot fleets in industrial environments, efficient coordination remains a critical challenge. Real-time path planning must simultaneously accommodate high robot densities and heterogeneous motion capabilities, while communication delays, execution uncertainties, and other disturbances may cause robots to deviate from the temporal assumptions underlying planned paths. Such deviations can lead to excessive waiting and congestion propagation across the fleet. This paper presents SCALE, a reactive online coordination framework that enables real-time planning while maintaining robust execution. Within this framework, we introduce a motion-induced conflict reduction mechanism to support the online generation of feasible paths for online conflict resolution. To mitigate the effects of disturbances, we further design a generalized Conjugate Action-Precedence Hypergraph (CAPH) that adaptively adjusts precedence relations among robots. Extensive validation experiments, together with a three-day deployment in a warehouse, demonstrate the

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