In this paper, we present an innovative use of multi-robot systems in a precision farming application proposed in the European project 'CANOPIES'. The considered scenario is then formalized identifying a real-time scheduling problem that needs to be solved for the efficient use of the multi-robot platform. A solution to the proposed real-time scheduling problem is first identified by proposing a mixed integer linear programming (MILP) problem formulation which is iteratively solved within a receding horizon time window. Then, we propose a polynomial time optimal algorithm able to solve a simplified but relevant scenario of the proposed multi-robot scheduling problem. Numerical examples are presented to corroborate the formal analysis of the proposed algorithm.

A MILP Scheduling Problem for Multi-Robot Logistics Systems in a Precision Farming Application and a Polynomial Time Optimal Algorithm

Franceschelli, Mauro;Gasparri, Andrea
2024-01-01

Abstract

In this paper, we present an innovative use of multi-robot systems in a precision farming application proposed in the European project 'CANOPIES'. The considered scenario is then formalized identifying a real-time scheduling problem that needs to be solved for the efficient use of the multi-robot platform. A solution to the proposed real-time scheduling problem is first identified by proposing a mixed integer linear programming (MILP) problem formulation which is iteratively solved within a receding horizon time window. Then, we propose a polynomial time optimal algorithm able to solve a simplified but relevant scenario of the proposed multi-robot scheduling problem. Numerical examples are presented to corroborate the formal analysis of the proposed algorithm.
2024
Autonomous Systems; Mixed Integer Linear Opti-mization; Multi-agent systems; Multi-robot systems; Precision Farming; Scheduling
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11584/407543
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