Multirobot Task Allocation in e-Commerce Robotic Mobile Fulfillment Systems

Algorithm 1

The main part of the balanced heuristic algorithm.

	Input: unallocated task set , Time interval T
	Output: task allocation result for each robot
(1)	# Initial task allocation
(2)	for do
(3)	find the task with the shortest distance with and put it in to set
(4)	end
(5)	#Task allocation considering task correlation
(6)	for do
(7)	the last task in
(8)	find the tasks strongly related to , add them into
(9)	find the tasks weakly related to , add them into in proper order
(10)	end
(11)	#task allocation based on auction algorithm
(12)	for do
(13)	calculate the picking time according to equation (3)
(14)	end
(15)	the picking station with the smallest picking time
(16)	for do
(17)	calculate the time cost of fulfilling each task in by according to equation (1)
(18)	end
(19)	find the task with the minimum fulfillment time cost and allocate it to the corresponding robot