• Shengshuo Gong, Bauman Moscow state technical university (Moscow, Russia)

This paper addresses the problem of group control of functionally heterogeneous warehouse robots – loading robots (LR), transport robots (TR), and unloading robots (UR). The aim is to develop a Mivar-based information processing and decision-making system that provides dynamic classification of transport tasks, executor selection via a compatibility criterion, and adaptive fleet energy management while preserving linear inference complexity and full decision explainability. A three-category task classification – individual, cooperative, and collective transportation – is proposed, implemented through Boolean indicators, dynamic priority computation, and dimensional-weight constraint verification. For collective transportation, a spatial clustering mechanism with dual-mode route optimization (exhaustive search and nearest-neighbor combined with 2-opt) is developed. For cooperative transportation of oversized cargo, a combinatorial auction mechanism for TR team formation is introduced, minimizing a composite cost function accounting for payload redundancy, speed heterogeneity, and travel costs. State, operability, and energy sufficiency equations are formulated for each robot type. The mathematical model is transformed into a Mivar knowledge base of 302 IF-THEN rules and verified on  the KESMI platform. The novelty lies in the simultaneous integration of fleet functional heterogeneity, three-category task classification, and adaptive energy management within a unified Mivar knowledge base – aspects previously addressed only in isolation. Experimental validation on a simulation system (1000×1000 m warehouse, 140 robots, 300 tasks) demonstrated a task completion rate of 98.9–99.9%, exceeding baseline Nearest Neighbor and Greedy algorithms by 14–18 percentage points. The method maintains operability under failure of up to 30% of robots and with cooperative task shares reaching 30%.

mivar, mivar decision-making system, mivar knowledge base, logical artificial intelligence, warehouse robot, group control, task allocation

2026-09-03