Enhanced robot fleet navigation and control

A system, comprising:

• one or more computers;
• and
• one or more computer memory devices interoperably coupled with the one or more computers and having tangible, non-transitory, machine-readable media storing one or more instructions that, when executed by the one or more computers, perform operations comprising:
• obtaining a graph representing a physical area, the graph comprising (i) a plurality of area nodes that represent regions of the area that are traversed by a set of actors that perform tasks in the area, (ii) a plurality of terminal nodes that represent regions of the facility where the actors perform the tasks, and (iii) edges between the nodes;
• identifying a set of agents that each comprise a model corresponding to an actor of the plurality of actors, wherein at least a portion of the agents comprise models for robots that perform tasks in the area, and wherein the model of an agent represents durations of time for traversing area nodes and performing tasks at terminal nodes during simulations;
• simulating a sequence of tasks being performed in the area using the graph and the set of agents for the set of actors, wherein simulating the sequence of tasks comprises:
• transition an agent from a first node to a second node
• determining, based on the model for the agent, a duration of time that the agent will be in the second node
• initializing a timer for the agent using the duration of time
• causing the agent to remain in the second node until the timer elapses;
• and
• transitioning the agent from the second node to a third node when the time elapses;
• monitoring, based on the simulation, a set of performance metrics for performance of the sequence of tasks for the area;
• and
• adjusting control of one or more of the robots based on the performance metrics.

A non-transitory, computer-readable medium storing one or more instructions executable by a computer system to perform operations comprising:

• obtaining a graph representing a physical area, the graph comprising (i) a plurality of area nodes that represent regions of the area that are traversed by a set of actors that perform tasks in the area, (ii) a plurality of terminal nodes that represent regions of the facility where the actors perform the tasks, and (iii) edges between the nodes;
• identifying a set of agents that each comprise a model corresponding to an actor of the plurality of actors, wherein at least a portion of the agents comprise models for robots that perform tasks in the area, and wherein the model of an agent represents durations of time for traversing area nodes and performing tasks at terminal nodes during simulations;
• simulating a sequence of tasks being performed in the area using the graph and the set of agents for the set of actors, wherein simulating the sequence of tasks comprises:
• transition an agent from a first node to a second node
• determining, based on the model for the agent, a duration of time that the agent will be in the second node
• initializing a timer for the agent using the duration of time
• causing the agent to remain in the second node until the timer elapses;
• and
• transitioning the agent from the second node to a third node when the time elapses;
• monitoring, based on the simulation, a set of performance metrics for performance of the sequence of tasks for the area;
• and
• adjusting control of one or more of the robots based on the performance metrics.