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A Scalable Heuristic for Mission Planning of Mobile Robot Teams


Publication Type:

Conference/Workshop Paper


22nd IFAC World Congress


In this work, we investigate a task planning problem for assigning and planning a mobile robot team to jointly perform a kitting application with alternative task locations. To this end, the application is modeled as a Robot Task Scheduling Graph and the planning problem is modeled as a Mixed Integer Linear Program (MILP). We propose a heuristic approach to solve the problem with a practically useful performance in terms of scalability and computation time. The experimental evaluation shows that our heuristic approach is able to find efficient plans, in comparison with both optimal and non-optimal MILP solutions, in a fraction of the planning time.


author = {Anders Lager and Branko Miloradovic and Giacomo Spampinato and Thomas Nolte and Alessandro Papadopoulos},
title = {A Scalable Heuristic for Mission Planning of Mobile Robot Teams},
month = {July},
year = {2023},
booktitle = {22nd IFAC World Congress},
url = {}