Configuration of robots in multi-robot operational environment

A processor-based system to configure a plurality of robots for a multi-robot operational environment in which a plurality of robots will operate, the processor-based system comprising:

• at least one processor;
• and
• at least one non-transitory processor-readable medium that stores processor-executable instructions which, when executed by the at least one processor, cause the processor to:
• generate a population of C candidate solutions via a population generator, each of the candidate solutions in the population of C candidate solutions specifying for each of the robots:
• a respective base position and orientation, a respective set of at least one defined pose, and a respective target sequence, where the respective base position and orientation specify a respective position and orientation for a base of the respective robot in the multi-robot operational environment, the respective set of at least one defined pose specifies at least a respective home pose of the respective robot in the multi-robot operational environment, and the respective target sequence comprises a respective ordered list of targets for the respective robot to move through to complete a respective sequence of tasks;
• perform an optimization on the population of C candidate solutions by an optimization engine that co-optimizes across a set of two or more non-homogenous parameters for two or more of:
• the respective base position and orientation of the robots, an allocation of the tasks to respective ones of the robots, and the respective target sequences for the robots;
• provide as output:
• the respective base position and orientation for each of the robots, a respective task allocation for each of the robots, and a respective motion plan for each of the robots;
• and
• operate the plurality of robots in accordance with the output.