A Balanced Heuristic Mechanism for Multirobot Task Allocation of Intelligent Warehouses

<div>Comparison between method provided in [<a href="/journals/mpe/2014/380480/#B15">15</a>] versus <svg height="8.93217pt" id="M341" style="vertical-align:-0.04980946pt" version="1.1" viewbox="-0.0498162 -8.88236 30.575 8.93217" width="30.575pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M372 352C427 368 507 407 507 502C507 548 486 592 451 616C420 638 376 650 301 650H44V622C124 616 128 610 128 527V123C128 40 122 34 36 28V0H257C336 0 402 12 453 40C512 72 548 124 548 191C548 291 471 335 372 350V352ZM213 362V558C213 591 216 602 226 608C235 614 258 618 282 618C377 618 415 558 415 490C415 406 369 362 260 362H213ZM213 328H258C380 328 450 283 450 181C450 76 377 35 296 34C231 34 213 53 213 125V328Z" id="g190-67"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="588" vert-adv-y="588"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,7.912,0)"><path d="M729 650H468V622C546 615 554 610 554 527V365H213V527C213 610 221 616 297 622V650H38V622C120 616 128 611 128 527V123C128 39 120 34 40 28V0H303V28C221 34 213 40 213 123V322H554V123C554 39 546 34 460 28V0H728V28C647 34 639 39 639 123V527C639 610 647 615 729 622V650Z" id="g190-73"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="766" vert-adv-y="766"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,18.29,0)"><path d="M861 0V28C774 35 771 41 768 147L759 509C756 612 762 614 851 622V650H681L449 149L221 650H57V622C148 613 153 609 144 479L130 271C123 166 117 123 111 88C104 46 85 34 26 28V0H259V28C192 35 169 42 167 90C166 130 166 173 170 256L185 541H187L411 7H431L675 555H679L683 147C683 41 680 35 598 28V0H861Z" id="g190-78"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="891" vert-adv-y="891"></glyph.data></g></svg>-based approaches (TTC).</div>

Mathematical Problems in Engineering

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Figure 13

Figure 13: A Balanced Heuristic Mechanism for Multirobot Task Allocation of Intelligent Warehouses 