论文标题
用于多机器人计划的整数编程：专栏生成方法
Integer Programming for Multi-Robot Planning: A Column Generation Approach
论文作者
论文摘要
我们考虑在仓库中协调机器人舰队的问题，以最大程度地提高在时间限制内获得的奖励，同时尊重问题和特定于机器人的约束。我们将问题提出为加权设定的包装问题，将元素定义为机器人可以占据的时空位置，并且可以拾取并交付的项目。我们强迫机器人不会发生碰撞，每个项目最多一次交付一次，并且任何时间的机器人数量都不会超过可用的总数。由于一组机器人路由是无法枚举的，因此我们使用定价是资源约束的最短路径问题的列生成攻击优化。
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing problem where elements are defined as being the space-time positions a robot can occupy and the items that can be picked up and delivered. We enforce that robots do not collide, that each item is delivered at most once, and that the number of robots active at any time does not exceed the total number available. Since the set of robot routes is not enumerable, we attack optimization using column generation where pricing is a resource-constrained shortest-path problem.
