In this paper we present a framework of key algorithms and data-structures for efficiently generating timetables for any number of AGVs from any given positioning on any given graph to accomplish any given demands as long as a few easily satisfiable assumptions are met. Our proposed algorithms provide guaranteed solutions in predictable polynomial running-times, which is fundamental to any real-time application. We also develop an improved geographic reservation algorithm that provides a substantial run-time improvement of the previously best-known algorithm from $O(nm)$ to $O(n)$.

翻译：本文提出了一套关键算法与数据结构框架，可在满足若干易于实现的假设条件下，从任意给定的图结构上的任意初始位置出发，为任意数量的自动导引车高效生成满足任意需求的时间表。所提出的算法能够在可预测的多项式运行时间内提供有保证的解，这对任何实时应用都至关重要。我们还开发了一种改进的地理预留算法，将先前最优算法的运行时间从 $O(nm)$ 显著提升至 $O(n)$。