arXiv AI By Yunjie Huang, Ruizhong Wu, Mengxuan Zhang, Frodo Kin Sun Chan, Yan Nei Law, Lei Li

HiRAD: A Flexible Large-Scale AGV Routing System

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HiRAD is a hierarchical reinforcement learning framework designed for continuous-space routing of large-scale AGV fleets, offering real-time guarantees. It introduces a step-level spatiotemporal representation, separates heading selection from velocity control to shrink the action space, and employs an asynchronous event-driven decision pipeline that reduces inference complexity from O(n²) to O(n) and cuts per-step latency by up to 71%. Experiments on random graphs and two warehouse maps show that HiRAD decreases makespan by 45% to 63% and shortens overall runtime.

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