Mathematical models for collaborative routing problems in automated warehouses

The pick-and-drive system is a warehouse automation concept for order picking that utilizes two types of Autonomous Mobile Robots (AMRs). Storage and supply AMRs (S-AMRs) carry unit loads and meet with picking AMRs (P-AMRs), which retrieve items using robotic arms. We study the problem of determining meeting points and sequences for these AMRs within a disposition area under different objectives. We model these settings as collaborative routing problems by using two modeling approaches and compare these approaches in a computational study.