Energy reduction of stochastic time-constrained robot stations

This paper looks at the problem of reducing energy use robot movements in a station with stochastic execution times, while keeping productivity station. The is formulated as optimization problem, that constrains makespan to meet deadline high probability. function times operations, and goal reduce this by finding optimal operation order. A theoretical motivation why variables under some conditions, can be approximated independent normally distributed presented, together derivation max variables. allows deterministic version, solved commercial solver. accuracy approximation evaluated on multiple numerical examples, which show method successfully reduces use, deadlines stations are met probabilities.