Swarm-Based Capacitated Vehicle Routing for Automated Intralogistics

• Grant number: 25/25138-2
• Support Opportunities: Scholarships abroad - Research Internship - Scientific Initiation
• Start date: February 16, 2026
• End date: June 15, 2026
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computer Systems
• Principal Investigator: Roberto Santos Inoue
• Grantee: Carolina da Silva Santos
• Supervisor: Sabine Hauert
• Host Institution: Centro de Ciências Exatas e de Tecnologia (CCET). Universidade Federal de São Carlos (UFSCAR). São Carlos , SP, Brazil
• Institution abroad: University of Bristol, England
• Associated to the scholarship: 25/01066-2 - YOLO-based Mobile Robotic System for Autonomous Warehouse Counting, BP.IC

Abstract

The modern logistics face increasingly complex challenges involving multiple pickup and delivery points, vehicle capacity constraints, load weights, and time windows for service. In this context, optimization algorithms such as the Capacitated Vehicle Routing Problem (CVRP) and the Pickup and Delivery Problem become essential. These algorithms enable the organization of routes that minimize costs or distances while ensuring all capacity and time constraints are met. The use of these algorithms together with autonomous mobile robots is a highly relevant approach for practical applications, as this system not only improves operational efficiency but also enhances safety, prevents collisions, and maintains coordination among multiple agents in dynamic environments.Therefore, this project proposes to develop an automated box transportation system in a warehouse environment using three robots. Each robot will have specific capacity constraints, while the boxes will have different weights, and navigation will be performed via ROS2 using sensors and cameras mounted on the robots. The CVRP will be implemented in Python with the help of the OR-Tools library to generate optimized routes considering weight, capacity, and distance. Thus, the system execution will involve creating a graph of the environment, integrating the robots (Swarm Engineering), and employing a mission planning algorithm, providing an efficient solution for automated internal logistics. (AU)