Capacitated Agriculture Fleet Vehicle Routing with Implements and Limited Autonomy: A Model and a Two-Phase Solution Approach

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dc.contributor.authorLópez-Sánchez, Aitor
dc.contributor.authorLujak, Marin
dc.contributor.authorSemet, Frederic
dc.contributor.authorBillhardt, Holger
dc.date.accessioned2026-01-26T15:34:36Z
dc.date.issued2025-09-02
dc.descriptionEn este artículo estudiamos el problema de ruteo de vehículos (VRP) para una flota de robots agrícolas autónomos cooperativos (agribots) equipados con implementos desmontables, con el objetivo de completar de manera eficiente y sostenible las tareas agrícolas en el marco de la agricultura de precisión. El estado del arte en el área del ruteo de flotas de agribots con implementos desmontables es limitado. En consecuencia, proponemos el Problema de Ruteo de Vehículos para Flotas Agrícolas con Capacidad, Implementos y Autonomía Limitada (CAFVRPILA), diseñado para optimizar las rutas de la flota de agribots sobre un conjunto dado de tareas agrícolas, teniendo en cuenta las capacidades de los implementos, las compatibilidades entre agribots e implementos, y las autonomías limitadas de batería de los agribots. Para este problema se propone un enfoque heurístico de descomposición en dos fases. Los experimentos de simulación muestran que la minimización de las distancias de recorrido y de los costos mediante el CAFVRPILA favorece una agricultura sostenible al tiempo que maximiza la productividad y el uso de los recursos. Los resultados también demuestran que la sincronización de múltiples operaciones mejora la eficiencia, especialmente en flotas de mayor tamaño.
dc.description.abstractIn this paper, we study the vehicle routing problem (VRP) for a fleet of cooperative autonomous agricultural robots (agribots) equipped with detachable implements, with the goal of efficiently and sustainably completing agricultural tasks in precision crop farming. State of the art in the area of agribot fleet routing with detachable implements is lacking. Consequently, we propose the Capacitated Agriculture Fleet Vehicle Routing Problem with Implements and Limited Autonomy (CAFVRPILA), designed to optimize the agribot fleet's routes across a set of given agricultural tasks while considering implement capacities, agribot-implement compatibilities, and agribots' limited battery autonomies. A heuristic two-phase decomposition approach is proposed for this problem. Simulation experiments show that minimizing travel distances and costs with CAFVRPILA enhances sustainable farming while maximizing productivity and resource use. The results also demonstrate that synchronizing multiple operations improves efficiency, particularly in larger fleets.
dc.description.sponsorshipThis work was supported by the VAE grant: TED2021-131295BC33 funded by MCIN/AEI/10.13039/501100011033 and by the European Union’s ”NextGenerationEU/PRTR”, by grant COSASS: PID2021-123673OB-C32 funded by MCIN/ AEI/ 10.13039/501100011033 and by “ERDF A way of making Europe”, by the AGROBOTS Project funded by the Community of Madrid, Spain, and by R´egion Hauts-de-France and the French government through the Program “France 2030” (SFRI project GRAEL / ANR-21-SFRI-005) managed by the French National Research Agency ANR.
dc.identifier.citationLopez, A., Lujak, M.*, Semet, F., and Billhardt, H.: Capacitated Agriculture Fleet Vehicle Routing with Implements and Limited Autonomy: A model and a two-phase solution approach. The 2025 IEEE International Conference on Robotics & Automation, ICRA 2025, 19–23 May, Atlanta, USA. In 2025 IEEE International Conference on Robotics and Automation (ICRA) pp. 7160-7166
dc.identifier.doi10.1109/ICRA55743.2025.11127753
dc.identifier.issn979-8-3315-4139-2
dc.identifier.urihttps://hdl.handle.net/10115/153537
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers
dc.relation.projectCodeTED2021-131295BC33
dc.relation.projectCodePID2021- 123673OB-C32
dc.relation.projectCodeANR-21-SFRI-005)
dc.relation.projectCodeAGROBOTS
dc.relation.projectNameVAE
dc.relation.projectNameCOSASS
dc.relation.projectNameGRAEL
dc.relation.projectNameAGROBOTS
dc.rights.accessRightsinfo:eu-repo/semantics/embargoedAccess
dc.subjectPath Planning for Multiple Mobile Robots or Agents
dc.subjectAgent-Based Systems
dc.subjectRobotics and Automation in Agriculture and Forestry
dc.subjectVehicle Routing
dc.subject.unesco1203 – Ciencias de la computación
dc.subject.unesco3309 – Investigación operativa
dc.titleCapacitated Agriculture Fleet Vehicle Routing with Implements and Limited Autonomy: A Model and a Two-Phase Solution Approach
dc.typeBook chapter

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