{"paper":{"title":"Bi-Layer Ant Colony Optimization for Multi-Robot Task Allocation and Routing in Delivery Applications","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Le Na Nguyen, Manh Duong Phung, Quan Le, Thanh Long Nguyen, Thanh Thao Ton Nu","submitted_at":"2026-08-18T06:36:20Z","abstract_excerpt":"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. This hierarchical framework enables simultaneous optimization of task allocation and route planning across multiple robots. Comparative experiments "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.17416","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2608.17416/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}