Generalized task allocation and route planning for robots with multiple depots in indoor building environments

Bharadwaj R.K. Mantha, Min Kyu Jung, Borja García de Soto, Carol C. Menassa, Vineet R. Kamat

Research output: Contribution to journalArticlepeer-review


Recent advancements in sensing and robotic technologies facilitate the use of on-demand building service robots in the built environment. Multi-robot based systems have arguably more advantages when compared to fixed sensor-based and single-robot based systems. These task-oriented building service robots face several challenges, such as task-allocation and route-planning. Previous studies adopted approaches from other domains, such as outdoor logistics, and made application-specific assumptions. This study proposes a new methodology to optimize the task-allocation and route-planning for multiple indoor robots with multiple starts and destination depots where each robot begins and ends at the same depot (referred to as a fixed destination multi-depot multiple traveling salesman problem-fMmTSP). The performance of the proposed algorithm was compared with two existing outdoor-based algorithms. Results show that the proposed algorithm performs better in almost all the cases for the assumed network, which supports the need to develop algorithms specifically for indoor networks.

Original languageEnglish (US)
Article number103359
JournalAutomation in Construction
StatePublished - Nov 2020


  • Building service robots
  • Built environment
  • Facility management
  • Optimization
  • Route planning
  • Task allocation
  • Traveling salesman problem

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Building and Construction


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