Collision-free allocation of temporally constrained tasks in multi-robot systems
Abstract: Highlights•Investigation about Pickup and delivery tasks with deadlines in a multi-robot systems.•Task swapping between robots can results in negative effects.•Allocation of tasks and ensuring collision free trajectories is computationally hard.•A novel measure for ordering temporally constrained tasks performs good.•New scoring function for optimization of multiple objectives is effective.•Proving, theoretically and experimentally, the correctness of the new algorithm.•Extensive simulation showing the effectiveness of the proposed algorithm.
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