You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact

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},
pages = {7865--7872},
month = {July},
year = {2023},
booktitle = {22nd IFAC World Congress},
url = {}