Bi-Layer Ant Colony Optimization for Multi-Robot Task Allocation and Routing in Delivery Applications

arXiv:2608.17416v1 Announce Type: new Abstract: This paper addresses the multi-robot task allocation (MRTA) problem, which is essential for delivery and logistics applications. Our approach first defines a new cost function that transforms the MRTA into a unified optimization problem capturing both task assignment and routing. A bi-layer ant colony optimization (ACO) algorithm is then introduced, integrating two interdependent decision layers within a single colony process to solve the problem. ...