A Constraint Programming Approach for the Multi-Robot Multibay Unit Load Pre-marshalling Problem

Autonomous mobile robots are increasingly employed to automate intralogistics operations. This work addresses the multi-robot multibay unit load pre-marshalling problem, wherein robots optimize warehouse processes during peak times by proactively reshufing inventory based on anticipated demand during idle periods. The problem involves reshufing a warehouse according to priority classes using multiple robots, necessitating coordinated tour planning between reshufing moves while respecting dependencies.