In abstract bibtex
Fleets of transport robots in industrial settings can gain performance in relation to safety and throughput by using zones with traffic constraints in the environment. In this paper we present a hierarchical navigation system for a fleet of robots that is able to consider such zones in planning. The performance of the proposed planning system is based on an enriched roadmap representation, a central zone reservation and a search heuristic that is able to cope with waiting times for temporary unavailable zones. The proposed system was implemented on top of existing industrial transport robots and evaluated in an industrial use case.