The robot task-sequencing planning problem

The problem of how to utilize some robot task flexibility characteristics efficiently is addressed. For a given set of robots and a set of tasks which can be accomplished through several alternative sequences of motions and operations, the robot task-sequencing planning problem is to determine the optimal sequence of paths for each robot such that all the tasks are executed with a total minimum cost (e.g. time). A framework and a classification for such types of problems are provided, and one class of problems is studied. The problems are solved according to the proposed decomposition scheme. Special considerations, such as the capacity of the robot end effector and coordination planning among several robots, are included in the algorithms. An example illustrates the problem and the solution