We consider a system with a metering conveyor that feeds a palletizing machine. Multiple robots cooperatively move packages to obtain a desired final pallet layout. We address the problem of finding the optimal sequence of manipulations and packages positions on the conveyor that allow to maximize production. Our main contribution is the reformulation of this operation as a mixed integer linear programming (MILP) problem, that we solve with a metaheuristic that exploits a standard commercial solver. We also present some numerical experiments on randomly generated problems.

中文翻译：

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优化协作式托盘装载机器人：混合整数方法

我们考虑一个带有计量输送机的系统，该系统可以向码垛机供料。多个机器人协同移动包装以获得所需的最终托盘布局。我们致力于解决在输送机上找到最佳的操作顺序和包装位置的问题，从而使产量最大化。我们的主要贡献是将此操作重新表述为混合整数线性规划（MILP）问题，我们通过利用标准商业求解器的元启发式算法来解决该问题。我们还提出了一些关于随机生成问题的数值实验。