Heterogeneous multi-robot routing

We consider the problem of routing multiple robots to service spatially distributed requests at specified time instants, where each robot, as well as each request, is associated with one or more skills. A request can be serviced by a robot as long as the robot has at least one skill in common with the skill set of that request. We characterize the feasibility aspects of such a heterogeneous routing problem, and provide algorithms for finding the minimum number of robots required to service the requests, and for constructing the corresponding paths of the robots.