This paper presents a multirobot pairwised transportation (MRPWT) approach for factory automated material and product deliveries. We consider MRPWT from the viewpoint of robotics and incorporate practical factory application constraints in the transportation method design. The proposed MRPWT approach is a two-level hybrid planning method, consisting of an incidental delivery based single robot level planner and a simulated annealing based robot group level planner. Each robot resolves its individual transportation plan incidentally to reduce the transportation cost, whereas the group level planner utilizes predefined random actions to search the task assignment solution space and then incorporates the simulated annealing algorithm to resolve the MRPWT problem as a combinatorial optimization problem. By implementing a distributed auction mechanism, the proposed MRPWT approach can be further extended to resolve the online task allocation or reallocation problem in dynamic environments. Experiments performed on a group of mobile robots successfully demonstrate the effectiveness and the practical applicability of the proposed MRPWT approach for factory automated material and product deliveries.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Incidental Delivery Based Method for Resolving Multirobot Pairwised Transportation Problems




    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.84 / 55.24 / 55.84 Straßenverkehr / 55.24 Fahrzeugführung, Fahrtechnik




    MULTIROBOT FOR TRANSPORT AND REHABILITATION

    HALADA PAVEL / HALADOVÁ PETRA | European Patent Office | 2018

    Free access

    Package Delivery Based on the Leader-Follower Control Paradigm for Multirobot Systems

    dos Santos Cardoso, Emanuele / Bacheti, Vinicius Pacheco / Sarcinelli-Filho, Mario | IEEE | 2023


    Multirobot coverage of modular environments

    Mirko Salaris / Alessandro Riva / Francesco Amigoni | BASE | 2020

    Free access

    ROS-Based Multirobot System for Collaborative Interaction

    Burgh-Oliván, Miguel / Aragüés, Rosario / López-Nicolás, Gonzalo | Springer Verlag | 2022