Posted by @lukicdarkoo:
Is there support for the pickup phase of multiple items at multiple locations?
I know we can create a composition to execute pickup at multiple locations. However, in that case, we have to have a fixed sequence while the pickup should choose the shortest route.
Chosen answer
Answer chosen by @lukicdarkoo at 2023-01-13T08:50:47Z.
Answered by @mxgrey:
we have to have a fixed sequence while the pickup should choose the shortest route.
At this time RMF does not attempt to optimize the way an individual task is performed. It will carry out the task precisely based on the task description, which is a sequence of activities.
I would love to expand the scope of RMF to give more flexibility to task descriptions and allow RMF to optimize their execution, but we don’t have funding for that at this time.
I would recommend optimizing the pick up and drop off sequence using an A* planner before generating the task description. Then the task you submit to RMF will already have the optimal sequence. Admittedly this only works if your robots will be starting in a consistent location before receiving the task, because otherwise the optimization problem would depend on the starting location of the robot that gets assigned to the task.