The problem of operating multiple mobile robots in a common workspace is studied using batch scheduling of the robot tasks with a view to answering the question: 'Are k plus 1 robots better than k? ' The authors' model, which has a time complexity that is doubly exponential, gives an affirmative answer in the absence of economic considerations but with a simple economic model gives optimal finite values for the number of robots that can be profitably operated in the workspace. The approximations used are discussed and the results compared with a simulation. The batch and list scheduled modes of operation are compared.

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Conference Proceedings of the 26th IEEE Conference on Decision and Control.
Oommen, J, & Reichstein, I. (I.). (1987). ON BATCH SCHEDULED MULTIPLE MOBILE ROBOTS CLUTTERING A WORKSPACE. In Proceedings of the IEEE Conference on Decision and Control (pp. 645–648).