SUMMARYWe establish an efficient minimum-time cooperative task planning algorithm for robots and operators to serve clients. This problem is an extension of the multiple traveling salesman problem and the vehicle routing problem with synchronization constraints, but it is more difficult due to the cooperative tasks of the robots and operators. To find the exact minimum-time task plan with a small tree size, we propose an efficient branch-and-bound with a good initial tree and keen complementary heuristics. Our algorithm is also effective as an approximate algorithm for the many clients problem within the capacity of the computer used. The efficiency of our algorithm is revealed via case studies: telemedical service robots and planetary exploration robots.

中文翻译：

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一种服务机器人和操作员的高效最小时间协作任务规划算法

摘要我们为机器人和操作员建立了一种高效的最小时间协同任务规划算法来服务客户。该问题是多行商问题和具有同步约束的车辆路径问题的扩展，但由于机器人和操作员的协作任务，难度更大。为了找到具有小树大小的确切最小时间任务计划，我们提出了一种具有良好初始树和敏锐互补启发式的有效分支定界。我们的算法在所用计算机的能力范围内，作为多客户问题的近似算法也是有效的。通过案例研究揭示了我们算法的效率：远程医疗服务机器人和行星探索机器人。