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A mathematical programming model in path planning of a human-cobot order picking system.

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Τίτλος: A mathematical programming model in path planning of a human-cobot order picking system.
Συγγραφείς: Chen, Xiaoya1 (AUTHOR), Du, Donglei2 (AUTHOR), Zhu, Xi1 (AUTHOR) zhuxi81@163.com
Πηγή: International Journal of Production Research. Oct2026, p1-18. 18p. 4 Illustrations.
Θεματικοί όροι: *Warehousing & storage, *Order picking systems, Robotic path planning, Mixed integer linear programming, Bilevel programming, Mathematical decomposition
Περίληψη: This paper optimises a single picker-cobot order picking system for e-commerce warehousing, aiming to minimise cobot path length based on the picker's route. In this Single-Picker-Cobot Routing with Decoupling Problem (SPCRDP), a picker selects items and carries limited goods, with the cobot providing transport. Based on the tri-tier commodity flow network structure and arc matching mechanism, we establish a special optimistic bi-level optimisation model. We transform the bi-level optimisation model into a single-level mixed integer linear programming model through optimal value reformulation, and build an algorithm framework with a three-level structure for solving. We also adopt a two-stage planning to quickly obtain feasible solutions to improve computing efficiency. Numerical results demonstrate promising performance on small to medium-scale instances, achieving cobot path optimisation ratios of up to 60%. This SPCRDP approach improves picking efficiency, reduces energy consumption, and contributes to intelligent human-cobot warehousing systems. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Production Research is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: A mathematical programming model in path planning of a human-cobot order picking system.
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  Data: <searchLink fieldCode="AR" term="%22Chen%2C+Xiaoya%22">Chen, Xiaoya</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Du%2C+Donglei%22">Du, Donglei</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Zhu%2C+Xi%22">Zhu, Xi</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> zhuxi81@163.com</i>
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  Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Production+Research%22">International Journal of Production Research</searchLink>. Oct2026, p1-18. 18p. 4 Illustrations.
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  Data: *<searchLink fieldCode="DE" term="%22Warehousing+%26+storage%22">Warehousing & storage</searchLink><br />*<searchLink fieldCode="DE" term="%22Order+picking+systems%22">Order picking systems</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Mixed+integer+linear+programming%22">Mixed integer linear programming</searchLink><br /><searchLink fieldCode="DE" term="%22Bilevel+programming%22">Bilevel programming</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+decomposition%22">Mathematical decomposition</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This paper optimises a single picker-cobot order picking system for e-commerce warehousing, aiming to minimise cobot path length based on the picker's route. In this Single-Picker-Cobot Routing with Decoupling Problem (SPCRDP), a picker selects items and carries limited goods, with the cobot providing transport. Based on the tri-tier commodity flow network structure and arc matching mechanism, we establish a special optimistic bi-level optimisation model. We transform the bi-level optimisation model into a single-level mixed integer linear programming model through optimal value reformulation, and build an algorithm framework with a three-level structure for solving. We also adopt a two-stage planning to quickly obtain feasible solutions to improve computing efficiency. Numerical results demonstrate promising performance on small to medium-scale instances, achieving cobot path optimisation ratios of up to 60%. This SPCRDP approach improves picking efficiency, reduces energy consumption, and contributes to intelligent human-cobot warehousing systems. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of International Journal of Production Research is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1080/00207543.2026.2740704
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 18
        StartPage: 1
    Subjects:
      – SubjectFull: Warehousing & storage
        Type: general
      – SubjectFull: Order picking systems
        Type: general
      – SubjectFull: Robotic path planning
        Type: general
      – SubjectFull: Mixed integer linear programming
        Type: general
      – SubjectFull: Bilevel programming
        Type: general
      – SubjectFull: Mathematical decomposition
        Type: general
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      – TitleFull: A mathematical programming model in path planning of a human-cobot order picking system.
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            NameFull: Chen, Xiaoya
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            NameFull: Du, Donglei
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            NameFull: Zhu, Xi
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          Dates:
            – D: 06
              M: 10
              Text: Oct2026
              Type: published
              Y: 2026
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