Energy Efficient Multi Robot Package Delivery under Capacity-Constraints via Voronoi-Constrained Networks

2025-09-17

AI Summary

This paper addresses the energy-efficiency optimization problem for homogeneous multi-robot systems with payload constraints in single-pickup, multi-delivery scenarios. We propose a Voronoi-constrained Steiner tree-based relay coordination framework. Unlike conventional passive relay strategies, our approach actively coordinates relay operations by constructing a sparse relay backbone network via Steiner tree optimization under Voronoi partition constraints. This unified formulation jointly models the three-phase collaborative process—pickup, relay, and delivery—while integrating task assignment and path planning. Experimental results demonstrate that the proposed method reduces system energy consumption by up to 34% compared to state-of-the-art approaches, significantly enhancing energy efficiency and scalability in capacity-constrained environments.

Technology Category

• Planning, Routing, and Scheduling: Optimization of Spatio-temporal Systems
• Intelligent Robots: Multi-Robot Systems
• Constraint Satisfaction and Optimization: Distributed CSP/Optimization

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Search and Retrieval-Augmented AI: Efficiency and scalability of Web search engines
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

We consider the problem of delivering multiple packages from a single pickup depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay Coordination Planning framework that constructs sparse relay trunks using Steiner tree optimization and then synthesizes robot-level pickup, relay, and delivery schedules. This framework reframes relays from incidental byproducts into central elements of coordination, offering a contrast with traditional delivery methods that rely on direct source-to-destination transport. Extensive experiments show consistent improvements of up to 34% compared to conventional baselines, underscoring the benefits of incorporating relays into the delivery process. These improvements translate directly to enhanced energy efficiency in multi-robot delivery under capacity constraints, providing a scalable framework for real-world logistics.

Problem

• Optimizing multi-robot package delivery under capacity constraints
• Developing Voronoi-constrained relay coordination for energy efficiency
• Synthesizing robot schedules via Steiner tree optimization for logistics

Innovation

• Voronoi-Constrained Steiner Tree optimization
• Sparse relay trunk construction method
• Robot-level pickup relay scheduling