A Two-Objective ILP Model of OP-MATSP for the Multi-Robot Task Assignment in an Intelligent Warehouse

Multi-robot task assignment is one of the main processes in an intelligent warehouse. This paper models multi-robot warehouse as open-path multi-depot asymmetric traveling salesman problem (OP-MATSP). A two-objective integer linear programming (ILP) model for solving OP-MDTSP proposed. The theoretical bound on computational time complexity this O(n!). We can solve small by ILP using Gurobi solver. multi-chromosome coding-based genetic algorithm has a smaller search space, so we use it to large-scale problems. experiment results reveal that very good at small-scale For problems, both EGA and NSGA3 algorithms efficiently obtain suboptimal solutions. It demonstrates paper’s work methods are helpful