Routing of a multi-robot system using a Time-Space Network model

Chuang Meng, Jianbin Xin, Jinzhu Peng, Rudy R. Negenborn

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)
24 Downloads (Pure)


In this paper, we study the collision-free routing of a multi-robot system to complete given tasks in the shortest time. In a robotic assembly unit, several stations work serially and in parallel. In a station, multiple robots share the same workspace and face the challenge of minimizing the cycle time and avoiding collisions at the same time. For this problem, we propose a new mathematical model that is the so-called time-space network (TSN) model. The TSN model can map the robot location constraints into the routing planning framework, leading to a mixed integer programming problem. By solving this mixed integer programming problem, the collision-free path of multiple robots can be determined. Finally, simulation results illustrate the proposed TSN model can obtain the collision-free route of the multi-robot system.

Original languageEnglish
Title of host publicationProceedings - 2019 Chinese Automation Congress (CAC 2019)
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-7281-4094-0
Publication statusPublished - 2019
Event2019 Chinese Automation Congress, CAC 2019 - Hangzhou, China
Duration: 22 Nov 201924 Nov 2019


Conference2019 Chinese Automation Congress, CAC 2019

Bibliographical note

Accepted Author Manuscript


  • collision avoidance
  • Multi-robot systems
  • routing
  • time-space network model


Dive into the research topics of 'Routing of a multi-robot system using a Time-Space Network model'. Together they form a unique fingerprint.

Cite this