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Collaborative Delivery with Energy-Constrained Mobile Robots

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Figure

Figure 1 Changing the order of agents i ∗ j+1 and i ∗ j+δ in the schedule.
Figure 2 (left) Feasible schedule. (right) Schedule with 1 + 5 7 max B B j
Figure 3 (left) A plane embedding of a 3CNF F which is satisfied by (v 1 , v 2 , v 3 , v 4 ) = (true, false, false, true)
Figure 4 (left) Two examples of δ-tubes for both versions of BudgetedDelivery . (right) Agent placement and edge weights on G(F ); agents are depicted by squares.
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