Title: Energy Efficient Multi Robot Package Delivery under Capacity-Constraints via Voronoi-Constrained Networks Show Chinese title

Title: 基于Voronoi约束网络的容量约束下高效多机器人包裹配送

Abstract: We consider the problem of delivering multiple packages from a single pickup depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay Coordination Planning framework that constructs sparse relay trunks using Steiner tree optimization and then synthesizes robot-level pickup, relay, and delivery schedules. This framework reframes relays from incidental byproducts into central elements of coordination, offering a contrast with traditional delivery methods that rely on direct source-to-destination transport. Extensive experiments show consistent improvements of up to 34% compared to conventional baselines, underscoring the benefits of incorporating relays into the delivery process. These improvements translate directly to enhanced energy efficiency in multi-robot delivery under capacity constraints, providing a scalable framework for real-world logistics. Show Chinese abstract

Abstract: 我们考虑从单一取货仓库向不同目标地点交付多个包裹的问题，使用具有有限承载能力的同质机器人车队。 我们提出VCST-RCP，一种Voronoi约束Steiner树中继协调规划框架，该框架使用Steiner树优化构建稀疏中继主干，然后综合机器人级别的取货、中继和交付计划。 此框架将中继重新定义为协调的核心要素，而非偶然的副产品，这与依赖直接源到目标运输的传统配送方法形成对比。 大量实验显示，与传统基线相比，改进幅度高达34%，证明了在配送过程中引入中继的好处。 这些改进直接转化为在容量限制下多机器人配送的能量效率提升，为现实世界的物流提供了一个可扩展的框架。