Methods and systems for coordinating motion of autonomous agents

A method of scaling operation of a route planning system for autonomous mobile machine, comprising:

• determining a size of an environment for a plurality of autonomous mobile machines at a distributed coordinator server;
• partitioning, at the distributed coordinator server, the environment for the plurality of autonomous mobile machines in accordance with predetermined criteria into a plurality of subset environments;
• for at least two of the plurality of subset environments:
• receiving, at a warehouse server, a plurality of states and tasks assigned to the plurality of autonomous mobile machines, and
• transmitting from the warehouse server to a distributed coordinator server, the plurality of states and tasks assigned to the plurality of autonomous mobile machines;
• receiving at the distributed coordinator server, the plurality of states and tasks assigned to the plurality of autonomous mobile machines for the at least two of the plurality of subset environments;
• initializing, at the distributed coordinator server, a plurality of reservation manager objects for each of the at least two of the plurality of subset environments and a concurrent reservation manager to be shared among the plurality of subset environments;
• iteratively determining paths for one or more of the plurality of autonomous mobile machines for the at least two of the plurality of subset environments;
• storing in a reservation manager object for each of the at least two of the plurality of subset environments and the concurrent reservation manager object, a first set of paths for one or more of the plurality of autonomous mobile machines associated with a first one of the at least two of the plurality of subset environments and a second set of paths for one or more of the plurality of autonomous mobile machines associated with a second one of the at least two of the plurality of subset environments;
• transmitting the first set of paths and the second set of paths from the distributed coordinator server to the warehouse server for at least two of the plurality of subset environments;
• transmitting the first set of paths from the warehouse server to the one or more of the plurality of autonomous mobile machines associated with the first one of the at least two of the plurality of subset environments and transmitting the second set of paths from the warehouse server to the one or more of the plurality of autonomous mobile machines associated with the second one of the at least two of the plurality of subset environments;
• and
• causing the one or more of the plurality of autonomous mobile machines associated with the first one of the at least two of the plurality of subset environments to move in accordance with the first set of paths and the one or more of the plurality of autonomous mobile machines associated with the second one of the at least two of the plurality of subset environments to move in accordance with the second set of paths.

A route planning system for autonomous mobile machines, comprising:

• a processor;
• and
• a memory device that stores a plurality of instructions, which when executed by the processor, causes the processor to be configured to:
• receive, from a warehouse server, a plurality of states and tasks assigned to a plurality of autonomous mobile machines;
• initialize at least two reservation manager objects;
• iteratively determine paths for one or more of the plurality of autonomous mobile machines for a first planning horizon;
• store in at least one of the at least two reservation manager objects, a set of paths for one or more of the plurality of autonomous mobile machines for the first planning horizon;
• and
• transmit the set of paths from to the warehouse server to cause the one or more of the plurality of autonomous mobile machines to move in accordance with the set of paths for at least one time period within the first planning horizon.