This paper investigates a novel routing problem of a multi-robot station in a manufacturing cell. In the existing literature, the objective is to minimize the cycle time or energy consumption separately. The routing problem considered in this paper aims to reduce the cycle time and energy consumption jointly for each robot while avoiding collisions between these robots. For this routing problem, we propose a new flexible time-space network model that allows us to reduce energy consumption while minimizing the cycle time. The corresponding optimization problem is Mixed-Integer Nonlinear Programming (MINLP). For addressing its computational complexity, this paper designs a metaheuristic algorithm tailored to the studied problem and proposes an ϵ-constraint algorithm to study the trade-off between these two objectives. We conduct industrially relevant simulation experiments of case studies to show its effectiveness, in comparison to a conventional method, two state-of-the-art solvers, and two commonly-used metaheuristics. The results show that the proposed methodology can reduce energy consumption by up to 30% without compromising the cycle time. Meanwhile, the proposed algorithm can provide efficient solutions within a reasonable computation time. Note to Practitioners-This paper is motivated by the problem of improving energy efficiency when routing cooperative robots in a manufacturing station. In current approaches for routing multi-robot stations, the cycle time and energy consumption are minimized separately. This paper focuses on the movement of the robot end-effector and its connected joint and suggests a new approach to minimize these two objectives jointly by proposing a new mathematical model. The resulting planning problem is computationally intractable. A customized metaheuristic algorithm is thus designed for efficiently solving this planning problem. Our meta-heuristic algorithm is integrated with the ϵ-constraint method to study the relationship between these two objectives. Simulation experiments suggest that this approach can reduce energy consumption considerably, for the shortest cycle time, compared with the current approaches. In future research, the movements of multi-joints will be investigated whereby 3-D collision-free trajectory planning will be considered.@en

In this paper, we study the collision-free routing of a multi-robot system to complete given tasks in the shortest time. In a robotic assembly unit, several stations work serially and in parallel. In a station, multiple robots share the same workspace and face the challenge of minimizing the cycle time and avoiding collisions at the same time. For this problem, we propose a new mathematical model that is the so-called time-space network (TSN) model. The TSN model can map the robot location constraints into the routing planning framework, leading to a mixed integer programming problem. By solving this mixed integer programming problem, the collision-free path of multiple robots can be determined. Finally, simulation results illustrate the proposed TSN model can obtain the collision-free route of the multi-robot system.@en

This article investigates a new collision-free routing problem of a multirobot system. The objective is to minimize the cycle time of operation tasks for each robot while avoiding collisions. The focus is set on the operation of the end-effector and its connected joint, and the operation is projected onto a circular area on the plane. We propose to employ a time-space network (TSN) model that maps the robot location constraints into the route planning framework, leading to a mixed integer programming (MIP) problem. A dedicated genetic algorithm is proposed for solving this MIP problem and a new encoding scheme is designed to fit the TSN formulation. Simulation experiments indicate that the proposed model can obtain the collision-free route of the considered multirobot system. Simulation results also show that the proposed genetic algorithm can provide fast and high-quality solutions, compared to two state-of-the-art commercial solvers and a practical approach.@en