Multirobot Task Allocation in e-Commerce Robotic Mobile Fulfillment Systems

Table 2

Task allocation scheme and time cost for each logistics robot.

Robot	Task allocation scheme	Time cost (s)
1	32⟶177⟶121⟶193⟶20⟶88⟶114⟶86⟶176⟶144⟶131⟶38⟶106⟶190	746.5
2	62⟶25⟶93⟶186⟶81⟶162⟶165⟶153⟶111⟶149⟶169⟶150⟶157	858.0
3	136⟶75⟶115⟶5⟶14⟶125⟶188⟶134⟶69⟶79⟶130⟶73⟶40	797.5
4	120⟶41⟶180⟶108⟶84⟶76⟶109⟶178⟶160⟶175⟶61⟶36⟶107⟶60	809.0
5	66⟶39⟶71⟶118⟶16⟶68⟶124⟶123⟶55⟶64⟶37⟶57	822.5
6	12⟶30⟶151⟶187⟶17⟶96⟶65⟶173⟶159⟶191⟶139⟶135	809.5
7	142⟶99⟶164⟶33⟶45⟶95⟶113⟶101⟶80⟶58⟶140⟶198⟶138⟶9⟶167⟶194⟶48	752.0
8	19⟶70⟶148⟶146⟶27⟶13⟶197⟶179⟶133⟶155⟶152⟶158	843.5
9	63⟶145⟶163⟶90⟶102⟶18⟶185⟶94⟶119⟶47⟶117	747.5
10	28⟶100⟶182⟶170⟶98⟶77⟶34⟶132⟶143⟶168⟶174⟶200⟶195⟶49	860.0
11	46⟶52⟶22⟶104⟶89⟶192⟶184⟶199⟶26⟶54⟶29⟶44⟶50⟶1	793.5
12	35⟶8⟶4⟶24⟶171⟶53⟶82⟶129⟶15⟶67⟶10⟶172⟶21	851.0
13	78⟶181⟶97⟶116⟶161⟶85⟶56⟶31⟶74⟶91⟶72⟶105⟶42⟶196	765.0
14	183⟶87⟶43⟶112⟶3⟶147⟶189⟶154⟶2⟶6⟶92⟶127⟶11	745.0
15	59⟶103⟶83⟶156⟶126⟶128⟶110⟶51⟶122⟶23⟶7⟶137⟶166⟶141	787.0