Collaborative Delivery with Energy-Constrained Mobile Robots

We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move. Hence multiple agents need to collaborate to move the message, each agent handing over the message to the next agent to carry it forward. Given the positions of the agents in the graph and their respective budgets, the problem of finding a feasible movement schedule for the agents can be challenging. We consider two variants of the problem: in non-returning delivery, the agents can stop anywhere; whereas in returning delivery, each agent needs to return to its starting location, a variant which has not been studied before. We first provide a polynomial-time algorithm for returning delivery on trees, which is in contrast to the known (weak) NP-hardness of the non-returning version. In addition, we give resource-augmented algorithms for returning delivery in general graphs. Finally, we give tight lower bounds on the required resource augmentation for both variants of the problem. In this sense, our results close the gap left by previous research.Comment: 19 pages. An extended abstract of this paper was published at the 23rd International Colloquium on Structural Information and Communication Complexity 2016, SIROCCO'1

Collective fast delivery by energy-efficient agents

We consider k mobile agents initially located at distinct nodes of an undirected graph (on n nodes, with edge lengths) that have to deliver a single item from a given source node s to a given target node t. The agents can move along the edges of the graph, starting at time 0 with respect to the following: Each agent i has a weight w_i that defines the rate of energy consumption while travelling a distance in the graph, and a velocity v_i with which it can move. We are interested in schedules (operating the k agents) that result in a small delivery time T (time when the package arrives at t), and small total energy consumption E. Concretely, we ask for a schedule that: either (i) Minimizes T, (ii) Minimizes lexicographically (T,E) (prioritizing fast delivery), or (iii) Minimizes epsilon*T + (1-epsilon)*E, for a given epsilon, 0<epsilon<1. We show that (i) is solvable in polynomial time, and show that (ii) is polynomial-time solvable for uniform velocities and solvable in time O(n + k log k) for arbitrary velocities on paths, but in general is NP-hard even on planar graphs. As a corollary of our hardness result, (iii) is NP-hard, too. We show that there is a 3-approximation algorithm for (iii) using a single agent.Comment: In an extended abstract of this paper [MFCS 2018], we erroneously claimed the single agent approach for variant (iii) to have approximation ratio