Year: 2025
Type: article
Abstract: As a multirobot system grows in its number of agents, contention over shared resources poses a more significant risk of deadlock and operational deficiencies. When integrating with buildings, one of the most common pieces of equipment that robots have to use is the lift (elevator). This work focuses on exploring different Anytime Constraint Programming techniques for finding time-optimal schedules across multiple robots and lifts. The choice of which lift each robot uses to complete its task has a noticeable impact on the makespan of the system. This work explores a Time-Ordered-based approach and a Time-Expansion Graph-based approach. The Time-Expansion Graph-based approach is found to outperform the Time-Ordered-based approach. This is because the Time-Expansion Graph method has immediate access to more comprehensive information. Additionally, this paper shows that, in some cases, applying such an optimization can considerably reduce the makespan.
Source: Mathematics
DOI: 10.3390/math13183031
Institution: Singapore University of Technology and Design
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
Awards: G2845929194, G5648203399, G7002477465
OpenAlex ID: W4414341795