Abstract
Solutions for multi-robot configurations are co-optimized for wear, collision and optionally for performance and/or energy expenditure, across a set of non-homogenous parameters based on a set of tasks to be performed by a set of robots. Non-homogenous parameters may include two or more of: the respective base position and orientation of the robots, an allocation of tasks to respective robots, respective target sequences and/or trajectories for the robots. Such may be executed pre-runtime. Output may include for each robot: workcell layout, an ordered list or vector of targets, optionally dwell time durations at respective targets, and paths or trajectories between each pair of consecutive targets. Output may provide a complete, executable, solution to the problem, which in the absence of variability in timing, can be used to control the robots without any modification. A genetic algorithm, e.g., Differential Evolution, may optionally be used in generating a population of candidate solutions.