Multi-Robot Pickup and Delivery via Distributed Resource Allocation

In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by network mobile cooperating robots. Robots self-coordinate and self-allocate set pickup/delivery tasks while minimizing given cost figure. This results in large, challenging Mixed-Integer Linear cooperatively % without central coordinator. We propose distributed algorithm based on primal decomposition approach provides feasible solution to problem finite time. An interesting feature proposed scheme is each robot computes only its own block solution, thereby preserving privacy sensible information. The also exhibits attractive scalability properties guarantee solvability even large networks. To best our knowledge, first attempt provide scalable problem. tested through Gazebo simulations ROS~2 platform, highlighting effectiveness solution. Finally, experiments real testbed with team ground aerial robots are provided.