Scheduling for multi-robot routing with blocking and enabling constraints
| Autor: | Jayanth Krishna Mogali, Joris Kinable, Stephen F. Smith, Zachary B. Rubinstein |
|---|---|
| Přispěvatelé: | Operations Planning Acc. & Control |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Mathematical optimization
021103 operations research Job shop scheduling Computer science Heuristic (computer science) 0211 other engineering and technologies General Engineering Meta-heuristics 0102 computer and information sciences 02 engineering and technology Blocking collision constraints Management Science and Operations Research Multirobot scheduling 01 natural sciences Blocking (computing) Scheduling (computing) Set (abstract data type) Robotics-assisted manufacturing 010201 computation theory & mathematics Artificial Intelligence Robot Routing (electronic design automation) Metaheuristic Software |
| Zdroj: | Journal of Scheduling, 24(3), 291-318. Springer |
| ISSN: | 1094-6136 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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