Work

Optimized Scheduling and Positioning of Mobile Manipulators in Collaborative Applications

Year: 2025

Type: preprint

Abstract: The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization framework for mobile manipulators in human-robot collaborative environments, in order to determine the sequence of robot base poses and the task scheduling for the robot. The complete problem is treated as black-box, and Particle Swarm Optimization (PSO) is employed to balance conflicting Key-Performance Indicators (KPIs). We demonstrate improvements in cycle time, task sequencing, and adaptation to human presence in a collaborative box-packing scenario.

Source: arXiv (Cornell University)

DOI: 10.48550/arxiv.2512.17584

Authors: Cella, Christian, Sonnino, Sole Ester, Faroni, Marco, Zanchettin, Andrea, Rocco, Paolo

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: green

OpenAlex ID: W7116860068

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