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Advantages

 
  • Computes a multi-agent schedule that satisfies upperbound and lowerbound temporal deadlines as well as spatial restrictions on agent proximity in polynomial time
  • Generates near-optimal task assignments and schedules for up to 10 agents and 500 tasks in less than 20 seconds on average, demonstrating superior scaling to previous approaches
  • Returns flexible time windows for execution, increasing robustness to schedule disturbances