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Breaking the Limit on the Number of Robots Through the Conflict-Free scheduling in robotic Mobile Fulfillment Systems

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 7324-7334页

作者： Sun, Yangjun Zhao, Ning Tang, Longwei Luo, Lei Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China

The robotic mobile fulfillment system (RMFS) utilizes robots to automate logistics handling. Although robots can replace workers, there are serious limitations and conflicts that make the system inefficient, resulting in a limited number of robots in the system. A conflict-free scheduling approach is studied, demonstrating better system efficiency, breaking the limit on the number of robots, and accommodating more robots in operation compared to the traditional strategy. A mathematical model aiming to minimize the total completion time is presented. An A $<^>\ast$ algorithm is modified for path planning, and an approach with two avoidance rules and six priority rules is proposed for conflict-free scheduling. Based on a case study involving four layout scales, the conflict-free scheduling is suitable for layouts with a higher number of robots, pillars, and a unidirectional path networks. More robots can be accommodated within the system, and even a threefold increase (45 to 150) will not result in a decrease in system efficiency, reducing the total completion time by 49.3%. In the largest layout system, the number of robots doubled (160 to 320) and the total completion time was reduced by 26.1%. This indicates the great potential for the conflict-free scheduling approach in future logistic applications, which could reduce resource consumption for scheduling and increase system efficiency.

关键词： Robots Layout scheduling Path planning Collision avoidance Task analysis Processor scheduling robotic mobile fulfillment system conflict-free scheduling strategy robotic scheduling path planning

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A faster algorithm for 2-cyclic robotic scheduling with a fixed robot route and interval processing times

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EUROPEAN JOURNAL OF OPERATIONAL RESEARCH 2011年第1期209卷 51-56页

作者： Kats, Vladimir Levner, Eugene Holon Inst Technol IL-58102 Holon Israel Inst Ind Math IL-84641 Beer Sheva Israel Bar Ilan Univ IL-52900 Ramat Gan Israel

Consider an m-machine production line for processing identical parts served by a mobile robot. The problem is to find the minimum cycle time for 2-cyclic schedules, in which exactly two parts enter and two parts leave the production line during each cycle. This work treats a special case of the 2-cyclic robot scheduling problem when the robot route is given and the operation durations are to be chosen from prescribed intervals. The problem was previously proved to be polynomially solvable in O(m(8)log m) time. This paper proposes an improved algorithm with reduced complexity O(m(4)). (C) 2010 Elsevier B.V. All rights reserved.

关键词： Efficient algorithms Graph-theoretic models Cyclic scheduling Polynomial models robotic scheduling

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A polynomial algorithm for 2-cyclic robotic scheduling: A non-Euclidean case

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DISCRETE APPLIED MATHEMATICS 2009年第2期157卷 339-355页

作者： Kats, Vladimir Levner, Eugene Holon Inst Technol IL-58102 Holon Israel Inst Ind Math IL-84105 Beer Sheva Israel

In this paper we consider the problem of no-wait cyclic scheduling of identical parts in an m-machine production line in which a robot is responsible for moving each part from a machine to another. The aim is to rind the minimum cycle time for the so-called 2-cyclic schedules, in which exactly two parts enter and two parts leave the production line during each cycle. The earlier known polynomial-time algorithms for this problem are applicable only under the additional assumption that the robot travel times satisfy the triangle inequalities. We lift this assumption on robot travel times and present a polynomial-time algorithm with the same time complexity as in the metric case, O(m(5) log m). (C) 2008 Elsevier B.V. All rights reserved.

关键词： Cyclic scheduling robotic scheduling Polynomial-time algorithms Complexity No-wait condition Euler formula

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A note on a quadratic algorithm for the 2-cyclic robotic scheduling problem

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THEORETICAL COMPUTER SCIENCE 2009年第47-49期410卷 5188-5190页

作者： Che, Ada Kats, Vladimir Levner, Eugene Holon & Bar Ilan Univ Holon Inst Technol Ramat Gan Israel NW Polytech Univ Xian 710072 Peoples R China Inst Ind Math Beer Sheva Israel

Recently, Pablo Saez (2009) [1] has developed a quadratic algorithm for a 2-cyclic robotic scheduling problem. In this note we uncover that the algorithm handles a special version of the problem only and fails to solv... 详细信息

关键词： robotic scheduling Polynomial algorithm Complexity No-wait

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Cyclic scheduling in robotic Flowshops with Bounded Work-in-Process Levels

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NAVAL RESEARCH LOGISTICS 2011年第1期58卷 1-16页

作者： Che, Ada Kats, Vladimir Levner, Eugene Northwestern Polytech Univ Sch Management Xian 710072 Peoples R China Inst Ind Math Beer Sheva Israel Holon Inst Technol Holon Israel Bar Ilan Univ Ramat Gan Israel

This study addresses cyclic scheduling in robotic flowshops with bounded work-in-process (WIP) levels. The objective is to minimize the cycle time or, equivalently, to maximize the throughput, under the condition that the WIP level is bounded from above by a given integer number. We present several strongly polynomial algorithms for the 2-cyclic robotic flowshop scheduling problems for various WIP levels. (C) 2010 Wiley Periodicals, Inc. Naval Research Logistics 58: 1-16, 2011

关键词： robotic scheduling multi-cyclic scheduling work-in-process polynomial algorithms complexity no-wait

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Cyclic Flowshop scheduling with Operators and Robots: Vyacheslav Tanaev's Vision and Lasting Contributions

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JOURNAL OF scheduling 2012年第4期15卷 419-425页

作者： Kats, Vladimir Levner, Eugene Bar Ilan Univ Dept Management Ramat Gan Israel Inst Ind Math Beer Sheva Israel

This note discusses the pioneering role and main contributions of V.S. Tanaev in the field of cyclic robotic flowshop scheduling. Open questions (either explicitly or implicitly) posed in his papers and kept unsolved ... 详细信息

关键词： Cyclic flowshop robotic scheduling Method of prohibited intervals Dominance of cyclic schedules, Graph model

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Parametric algorithms for 2-cyclic robot scheduling with interval processing times

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JOURNAL OF scheduling 2011年第3期14卷 267-279页

作者： Kats, Vladimir Levner, Eugene Holon Inst Technol IL-58102 Holon Israel Inst Ind Math IL-84641 Beer Sheva Israel

Consider an m-machine production line for processing identical parts served by a mobile robot. The problem is to find the minimum cycle time for 2-cyclic schedules, that is, schedules in which exactly two parts enter and two parts leave the production line during each cycle. This work treats a special case of the 2-cyclic robot scheduling problem when the robot route is given and operation durations are chosen from prescribed intervals. A strongly polynomial algorithm of time complexity O(m (8)log m) is proposed.

关键词： Cyclic scheduling Efficient algorithms Graph-theoretic models Polynomial models robotic scheduling Binary search

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Complexity of cyclic scheduling problems: A state-of-the-art survey

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COMPUTERS & INDUSTRIAL ENGINEERING 2010年第2期59卷 352-361页

作者： Levner, Eugene Kats, Vladimir Alcaide Lopez de Pablo, David Cheng, T. C. E. Holon Inst Technol Holon Israel Inst Ind Math Beer Sheva Israel Univ La Laguna Tenerife Spain Hong Kong Polytech Univ Kowloon Hong Kong Peoples R China

In this survey we review the current complexity status of basic cyclic scheduling models. We start with the formulations of three fundamental cyclic scheduling problems, namely the cyclic jobshop, cyclic flow-shop, and cyclic project scheduling problems. We present state-of-the-art results on the computational complexity of the problems, paying special attention to recent results on the unsolvability (NP-hardness) of various cyclic problems arising from the scheduling of robotic cells. (c) 2010 Elsevier Ltd. All rights reserved.

关键词： Cyclic scheduling problems Complexity Reducibility robotic scheduling

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The Howard-Romanovskii Routing Algorithm Revisited, with Applications to Robot scheduling

The Howard-Romanovskii Routing Algorithm Revisited, with App...

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International Conference on Computers and Industrial Engineering (CIE39)

作者： Kats, Vladimir Levner, Eugene Inst Ind Math Beer Sheva Israel Holon & Bar Dan Univ Holon Inst Technol Ramat Gan Israel

ISBN: (纸本)9781424441358

We consider the original routing algorithm invented by Romanovskii (1967) for solving a cyclic project scheduling problem and establish its close relationship with the well-known routing algorithm by Dantzig, Blattner and Rao (1967). Though Romanovskii's and Dantzig-Blattner-Rao's algorithms can only treat fixed numerical data, we show that they both can be extended to solve problems with interval-valued input data.

关键词： scheduling routing algorithm robotic scheduling polynomial algorithm

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Enumerating split-pair arrangements

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JOURNAL OF COMBINATORIAL THEORY SERIES A 2008年第2期115卷 293-303页

作者： Graham, Ron Zang, Nan Univ Calif San Diego Dept Comp Sci La Jolla CA 92093 USA

An arrangement of the multi-set {1, 1, 2, 2, ... , n, n} is said to be "split-pair" if for all i < n, between the two occurrences of i there is exactly one i + 1. We enumerate the number of split-pair arrangements and in particular show that the number of such arrangements is (-1)(n+1) 2(n)(2(2n) - 1)B-2n where B-i is the ith Bernoulli number. (c) 2007 Elsevier Inc. All rights reserved.

关键词： enumeration permutations Bernoulli numbers robotic scheduling

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