Graph Inspired Geometric Area Allocation for Swarm of Robots in a Warehouse Environment

Swarm robotics has received much spotlight in the past decade in regards to research and has already been deployed in many real life scenarios. From what started to be an interesting application for surveillance, search and rescue based applications has now been scaled to a multitude of applications ranging from the medical industry to industrial warehouse applications. With a plethora of interesting problems seen in such application themes, our work addresses a problem most relatable to the industrial logistics use case. In this paper, a graph inspired geometric area allocation is done which in turn streamlines the process of task allocation not just efficiently but also reduces infrastructure costs in a traditional industrial setting. A fail safe approach is introduced, wherein if a situation arises where robot(s) fail, then the system would realize and dynamically re-adjust the area allocation to make sure the pipeline continues unhampered.