JACIII Vol.15 No.8 pp. 1103-1108
doi: 10.20965/jaciii.2011.p1103


An Approximation Algorithm with Factor Two for a Repetitive Routing Problem of Grasp-and-Delivery Robots

Yoshiyuki Karuno*, Hiroshi Nagamochi**,
and Aleksandar Shurbevski*

*Department of Mechanical and System Engineering, Kyoto Institute of Technology, Matsugasaki, Sakyo-ku, Kyoto-shi, Kyoto 606-8585, Japan

**Department of Applied Mathematics and Physics, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto-shi, Kyoto 606-8501, Japan

March 5, 2011
July 15, 2011
October 20, 2011
combinatorial optimization, approximation algorithms, repetitive routing, grasp-and-delivery, intersection of matroids

In this paper, we consider a routing problem for a single grasp-and-delivery robot used on a printed circuit (PC) board assembly line. The robot arranges n identical pins from their current configuration to the next required configuration by transferring them one by one in a transition. The n pins support a PC board from underneath to prevent it from overbending as an automated manipulator embeds electronic parts in the PC board from above. Each PC board has its own circuit pattern, and required configurations for PC boards all differ. Given an initial configuration of n pins and a sequence of m required configurations, the problem asks to find a transfer route of the robot that minimizes the route length over all m transitions. By applying a weighted matroid intersection algorithm, we show the repetitive routing problem to be 2-approximable in polynomial time.

Cite this article as:
Yoshiyuki Karuno, Hiroshi Nagamochi, and
and Aleksandar Shurbevski, “An Approximation Algorithm with Factor Two for a Repetitive Routing Problem of Grasp-and-Delivery Robots,” J. Adv. Comput. Intell. Intell. Inform., Vol.15, No.8, pp. 1103-1108, 2011.
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Last updated on Mar. 05, 2021