# Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning

arXiv: https://arxiv.org/abs/2006.08845 · HTML: https://mlsanity.com/paper/2006.08845/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Jun 2020.

## Built on by (most cited first, 13 of 13)

- [Cooperative Task and Motion Planning for Multi-Arm Assembly Systems](https://mlsanity.com/paper/2203.02475/) (2022)
- [RAILGUN: A Unified Convolutional Policy for Multi-Agent Path Finding Across Different Environments and Tasks](https://mlsanity.com/paper/2503.02992/) (2025)
- [Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding](https://mlsanity.com/paper/2208.01222/) (2022)
- [Double-Deck Multi-Agent Pickup and Delivery: Multi-Robot Rearrangement in Large-Scale Warehouses](https://mlsanity.com/paper/2304.14309/) (2023)
- [Hypergraph-based Multi-Robot Task and Motion Planning](https://mlsanity.com/paper/2210.04333/) (2022)
- [Optimal Multi-Agent Path Finding for Precedence Constrained Planning Tasks](https://mlsanity.com/paper/2202.10449/) (2022)
- [Large-Scale Multi-Robot Assembly Planning for Autonomous Manufacturing](https://mlsanity.com/paper/2311.00192/) (2023)
- [DMS*: Minimizing Makespan for Multi-Agent Combinatorial Path Finding](https://mlsanity.com/paper/2312.06314/) (2023)
- [Optimal Integrated Task and Path Planning and Its Application to Multi-Robot Pickup and Delivery](https://mlsanity.com/paper/2403.01277/) (2024)
- [Enhancing Lifelong Multi-Agent Path Finding with Cache Mechanism](https://mlsanity.com/paper/2501.02803/) (2025)
- [PRISM: Complete Online Decentralized Multi-Agent Pathfinding with Rapid Information Sharing using Motion Constraints](https://mlsanity.com/paper/2505.08025/) (2025)
- [An Analysis of Constraint-Based Multi-Agent Pathfinding Algorithms](https://mlsanity.com/paper/2511.18604/) (2025)
- [Auction-Based Online Policy Adaptation for Evolving Objectives](https://mlsanity.com/paper/2604.02151/) (2026)

## Abstract (arXiv)

We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task A and task B must both be completed before task C may begin). Such problems commonly occur in assembly planning for robotic manufacturing applications, in which sub-assemblies must be completed before they can be combined to form the final product. We propose a hierarchical algorithm for computing makespan-optimal solutions to the problem. The algorithm is evaluated on a set of randomly generated problem instances where robots must transport objects between stations in a "factory "grid world environment. In addition, we demonstrate in high-fidelity simulation that the output of our algorithm can be used to generate collision-free trajectories for non-holonomic differential-drive robots.