The robotic job-shop scheduling problem (RJSP) has become increasingly important due to the wide application of robots for material delivery in modern logistics and supply chain systems. With the common assumptions of negligible material transportation procedures and infinite machine buffers, the traditional job-shop scheduling problem (JSP) models can lead to system failures due to the potential deadlock for a robot-driven production line. In this study, we propose two novel robotic job-shop scheduling models with deadlock and robot movement considerations (RJSPDT). The proposed novel models simultaneously consider the scheduling of job operations and the movement of the robot, with the objective of minimizing makespan. In order to avoid deadlock, the machine blocking strategy is applied and a set of tight deadlock-avoidance constraints is proposed. Two modelling approaches are applied: the traditional position-based approach and the novel network-based approach which is inspired by aviation scheduling studies. Through numerical examples, it is illustrated that our proposed models can completely avoid transportation conflicts by considering deadlock and robot movement. Besides, through computational experiments, the network-based RJSPDT shows higher solution efficiency owing to the smaller model size than the position-based RJSPDT (e.g., reducing the computational time by 96% for small-scale problems). Moreover, we explore the impacts of job settings (e.g., number of jobs, number of operations in a job) and job entrance strategies (i.e., fixed entrance and flexible entrance) on model performances. Results show that the number of jobs imposes greater impacts than the number of operations in a job, while the fixed entrance strategy can reduce the average computational time by 60% with little impact on the makespan.

由于机器人在现代物流和供应链系统中广泛地用于物料输送，因此机器人作业车间调度问题（RJSP）变得越来越重要。在一般的假设中，可以忽略的物料运输程序和无限的机器缓冲区，传统的作业车间调度问题（JSP）模型可能会由于机器人驱动的生产线潜在的死锁而导致系统故障。在这项研究中，我们提出了两个具有死锁和机器人运动考虑因素（RJSPDT）的新型机器人作业车间调度模型。所提出的新颖模型同时考虑了作业操作的调度和机器人的运动，目的是最小化制造时间。为了避免死锁，应用了机器阻塞策略，并提出了一组严格的避免死锁的约束。应用了两种建模方法：传统的基于位置的方法和受航空调度研究启发的新颖的基于网络的方法。通过数值算例表明，通过考虑死锁和机器人运动，我们提出的模型可以完全避免运输冲突。此外，通过计算实验，由于基于模型的尺寸比基于位置的RJSPDT小，因此基于网络的RJSPDT显示出更高的求解效率（例如，针对小规模问题，将计算时间减少了96％）。此外，我们探讨了工作设置（例如，工作数量，一项工作中的操作数量）和工作进入策略（即，固定的入口和灵活的入口）。结果表明，作业数量比作业中的操作数量具有更大的影响，而固定进入策略可以将平均计算时间减少60％，而对工期几乎没有影响。