Scheduling for multi-robot routing with blocking and enabling constraints

Jayanth Krishna Mogali (), Joris Kinable (), Stephen F. Smith () and Zachary B. Rubinstein ()
Additional contact information
Jayanth Krishna Mogali: The Robotics Institute, Carnegie Mellon University
Joris Kinable: Eindhoven University of Technology
Stephen F. Smith: The Robotics Institute, Carnegie Mellon University
Zachary B. Rubinstein: The Robotics Institute, Carnegie Mellon University

Journal of Scheduling, 2021, vol. 24, issue 3, No 3, 318 pages

Abstract: Abstract This paper considers the problem of servicing a set of locations by a fleet of robots so as to minimize overall makespan. Although motivated by a specific real-world, multi-robot drilling and fastening application, the problem also arises in a range of other multi-robot domains where service start times are subject to precedence constraints and robots must be routed in space and time to avoid collisions. We formalize this general problem and analyze its complexity. We develop a heuristic local search procedure for solving it and analyze its performance on a set of synthetically generated problem instances, some of which capture the specific structure of the motivating drilling and fastening application, and others that generalize to other application settings. We provide a differential analysis of our local search procedure and a comparison to other approaches to demonstrate the efficacy of the proposed heuristic.

Keywords: Multirobot scheduling; Blocking collision constraints; Meta-heuristics; Robotics-assisted manufacturing (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
http://link.springer.com/10.1007/s10951-021-00684-9 Abstract (text/html)
Access to the full text of the articles in this series is restricted.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:jsched:v:24:y:2021:i:3:d:10.1007_s10951-021-00684-9

Ordering information: This journal article can be ordered from
http://www.springer.com/journal/10951

DOI: 10.1007/s10951-021-00684-9

Access Statistics for this article

Journal of Scheduling is currently edited by Edmund Burke and Michael Pinedo

More articles in Journal of Scheduling from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().