Method and system for optimally allocating warehouse procurement tasks to distributed robotic agents

A system for optimally allocating warehouse procurement tasks to distributed robotic agents, the system comprising:

• one or more memories storing instructions;
• and
• one or more hardware processors coupled to the one or more memories, wherein said one or more hardware processors are configured by said instructions to:
• obtain, at a coordinating agent of a plurality of robotic agents, a global task associated with the warehouse and an information associated with the plurality of robotic agents available for the global task, said information comprising a count and status of the plurality of robotic agents;
• profile the global task to obtain a set of sub-tasks and identifying one or more constraints associated with the set of sub-tasks, a constraint of the one or more constraints comprises one of a utilization constraint and one or more pricing constraints;
• and
• perform distributed, decentralized optimal task allocation amongst the plurality of robotic agents based at least on the one or more constraints, to obtain optimal performance of the plurality of robotic agents in accomplishment of the global task, the distributed optimal task allocation comprises:
• perform a primal decomposition of the set of sub-tasks by each robotic agent of the plurality or robotic agents and updating a set of corresponding primal variables by the coordinating agent when the optimization is performed based on a utilization constraint, and
• perform a dual decomposition of the set of sub-tasks by each robotic agent of the plurality or robotic agents and updating a set of corresponding dual variables by the coordinating agent, when the optimization is performed based on one or more pricing constraints.

A non-transitory computer-readable medium having embodied thereon a computer program for executing a method for optimally allocating warehouse procurement tasks to distributed robotic agents, the method comprising:

• obtaining, at a coordinating agent of a plurality of robotic agents, a global task associated with the warehouse and an information associated with the plurality of robotic agents available for the global task, via one or more hardware processors, said information comprising a count and status of the plurality of robotic agents;
• profiling the global task to obtain a set of sub-tasks and identifying one or more constraints associated with the set of sub-tasks, via the one or more hardware processors, a constraint of the one or more constraints comprises one of a utilization constraint and one or more pricing constraints;
• and
• performing, via the one or more hardware processors, distributed, decentralized optimal task allocation amongst the plurality of robotic agents based at least on the one or more constraints, to obtain optimal performance of the plurality of robotic agents in accomplishment of the global task, the distributed optimal task allocation comprises:
• performing a primal decomposition of the set of sub-tasks by each robotic agent of the plurality or robotic agents and updating a set of corresponding primal variables by the coordinating agent when the optimization is performed based on the utilization constraint, and
• performing a dual decomposition of the set of sub-tasks by each robotic agent of the plurality or robotic agents updating a set of corresponding dual variables by the coordinating agent, when the optimization is performed based on the one or more pricing constraints.