{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T10:47:03Z","timestamp":1774867623952,"version":"3.50.1"},"reference-count":45,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2026,2,18]],"date-time":"2026-02-18T00:00:00Z","timestamp":1771372800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,2,18]],"date-time":"2026-02-18T00:00:00Z","timestamp":1771372800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"Key Research and Development Program of Henan Province","award":["241111110500"],"award-info":[{"award-number":["241111110500"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Memetic Comp."],"published-print":{"date-parts":[[2026,3]]},"DOI":"10.1007\/s12293-026-00497-3","type":"journal-article","created":{"date-parts":[[2026,2,18]],"date-time":"2026-02-18T09:33:54Z","timestamp":1771407234000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A multi-objective hierarchical approach for agricultural multi-robot routing and scheduling"],"prefix":"10.1007","volume":"18","author":[{"given":"Yuheng","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Heng","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianlei","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2026,2,18]]},"reference":[{"issue":"1","key":"497_CR1","first-page":"62","volume":"30","author":"A Asmara","year":"2024","unstructured":"Asmara A, Permana AS, Irfany MI (2024) Economic determinants of changes in labor participation in the indonesian agricultural sector before and during covid-19. Journal of the International Society for Southeast Asian Agricultural Sciences 30(1):62\u201379","journal-title":"Journal of the International Society for Southeast Asian Agricultural Sciences"},{"key":"497_CR2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2024.108938","volume":"221","author":"T Jin","year":"2024","unstructured":"Jin T, Han X (2024) Robotic arms in precision agriculture: A comprehensive review of the technologies, applications, challenges, and future prospects. Comput Electron Agric 221:108938","journal-title":"Comput Electron Agric"},{"issue":"7","key":"497_CR3","doi-asserted-by":"publisher","first-page":"7506","DOI":"10.1109\/TITS.2022.3228599","volume":"24","author":"G Raja","year":"2022","unstructured":"Raja G, Philips ND, Ramasamy RK, Dev K, Kumar N (2022) Intelligent drones trajectory generation for mapping weed infested regions over 6g networks. IEEE Trans Intell Transp Syst 24(7):7506\u20137515","journal-title":"IEEE Trans Intell Transp Syst"},{"issue":"2","key":"497_CR4","doi-asserted-by":"publisher","first-page":"701","DOI":"10.1109\/TITS.2020.3019322","volume":"23","author":"MNA Rahim","year":"2020","unstructured":"Rahim MNA, Liu Z, Lee H, Ali GGMN, Pesch D, Xiao P (2020) A survey on resource allocation in vehicular networks. IEEE Trans Intell Transp Syst 23(2):701\u2013721","journal-title":"IEEE Trans Intell Transp Syst"},{"issue":"11","key":"497_CR5","doi-asserted-by":"publisher","first-page":"12933","DOI":"10.1109\/TITS.2022.3163804","volume":"24","author":"S Tong","year":"2022","unstructured":"Tong S, Liu Y, Mi\u0161i\u0107 J, Chang X, Zhang Z, Wang C (2022) Joint task offloading and resource allocation for fog-based intelligent transportation systems: A uav-enabled multi-hop collaboration paradigm. IEEE Trans Intell Transp Syst 24(11):12933\u201312948","journal-title":"IEEE Trans Intell Transp Syst"},{"issue":"3","key":"497_CR6","first-page":"1","volume":"57","author":"KA Athira","year":"2024","unstructured":"Athira KA, Subramaniam U (2024) A systematic literature review on multi-robot task allocation. ACM Comput Surv 57(3):1\u201328","journal-title":"ACM Comput Surv"},{"issue":"1","key":"497_CR7","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1109\/TITS.2020.3010056","volume":"23","author":"R Li","year":"2020","unstructured":"Li R, Huaining W (2020) Multi-robot source location of scalar fields by a novel swarm search mechanism with collision\/obstacle avoidance. IEEE Trans Intell Transp Syst 23(1):249\u2013264","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"497_CR8","doi-asserted-by":"publisher","first-page":"455","DOI":"10.1007\/s10846-019-01081-3","volume":"98","author":"W Dai","year":"2020","unstructured":"Dai W, Huimin L, Xiao J, Zeng Z, Zheng Z (2020) Multi-robot dynamic task allocation for exploration and destruction. Journal of Intelligent & Robotic Systems 98:455\u2013479","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"1","key":"497_CR9","doi-asserted-by":"publisher","first-page":"1","DOI":"10.23919\/CSMS.2022.0026","volume":"3","author":"X Yan","year":"2023","unstructured":"Yan X, Zuo H, Chengyu H, Gong W, Sheng VS (2023) Load optimization scheduling of chip mounter based on hybrid adaptive optimization algorithm. Complex System Modeling and Simulation 3(1):1\u201311","journal-title":"Complex System Modeling and Simulation"},{"key":"497_CR10","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2023.110628","volume":"146","author":"F Yan","year":"2023","unstructured":"Yan F, Di K (2023) Solving the multi-robot task allocation with functional tasks based on a hyper-heuristic algorithm. Appl Soft Comput 146:110628","journal-title":"Appl Soft Comput"},{"key":"497_CR11","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2024.109423","volume":"138","author":"F Yan","year":"2024","unstructured":"Yan F, Di K, Ge B, Liu L, Wang Z, Fan W, Didi H (2024) Multi-robot task allocation for optional tasks with hidden workload: Using a model-based hyper-heuristic strategy. Eng Appl Artif Intell 138:109423","journal-title":"Eng Appl Artif Intell"},{"key":"497_CR12","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2023.111223","volume":"152","author":"C Wen","year":"2024","unstructured":"Wen C, Ma H (2024) An efficient two-stage evolutionary algorithm for multi-robot task allocation in nuclear accident rescue scenario. Appl Soft Comput 152:111223","journal-title":"Appl Soft Comput"},{"key":"497_CR13","first-page":"6061","volume":"6","author":"L Dai","year":"2023","unstructured":"Dai L, Pan Q, Miao Z, Suganthan PN, Gao K (2023) Multi-objective multi-picking-robot task allocation: Mathematical model and discrete artificial bee colony algorithm. IEEE Trans Intell Transp Syst 6:6061\u20136073","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"497_CR14","doi-asserted-by":"publisher","DOI":"10.1016\/j.tre.2021.102370","volume":"152","author":"N Huang","year":"2021","unstructured":"Huang N, Li J, Zhu W, Qin H (2021) The multi-trip vehicle routing problem with time windows and unloading queue at depot. Transportation Research Part E Logistics and Transportation Review 152:102370","journal-title":"Transportation Research Part E Logistics and Transportation Review"},{"issue":"3","key":"497_CR15","doi-asserted-by":"publisher","first-page":"1055","DOI":"10.1016\/j.ejor.2022.11.010","volume":"307","author":"P He","year":"2023","unstructured":"He P, Hao J (2023) Memetic search for the minmax multiple traveling salesman problem with single and multiple depots. Eur J Oper Res 307(3):1055\u20131070","journal-title":"Eur J Oper Res"},{"issue":"1","key":"497_CR16","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1007\/s10514-021-10022-9","volume":"46","author":"S Choudhury","year":"2022","unstructured":"Choudhury S, Gupta JK, Kochenderfer MJ, Sadigh D, Bohg J (2022) Dynamic multi-robot task allocation under uncertainty and temporal constraints. Auton Robot 46(1):231\u2013247","journal-title":"Auton Robot"},{"key":"497_CR17","volume-title":"The vehicle routing problem with multiple use of vehicles","author":"B Fleischmann","year":"1990","unstructured":"Fleischmann B (1990) The vehicle routing problem with multiple use of vehicles. Universit\u00e4t Hamburg, Fachbereich Wirtschaftswissenschaften"},{"key":"497_CR18","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2022.109225","volume":"126","author":"M Sajid","year":"2022","unstructured":"Sajid M, Mittal H, Pare S, Prasad M (2022) Routing and scheduling optimization for uav assisted delivery system: A hybrid approach. Appl Soft Comput 126:109225","journal-title":"Appl Soft Comput"},{"key":"497_CR19","doi-asserted-by":"crossref","unstructured":"Li W, Xia L, Huang Y, Mahmoodi S (2022) An ant colony optimization algorithm with adaptive greedy strategy to optimize path problems. J Ambient Intell Humaniz Comput 1\u201315","DOI":"10.1007\/s12652-021-03120-0"},{"issue":"8","key":"497_CR20","doi-asserted-by":"publisher","first-page":"13011","DOI":"10.1109\/TITS.2021.3119080","volume":"23","author":"Q Luo","year":"2021","unstructured":"Luo Q, Guohua W, Ji B, Wang L, Suganthan PN (2021) Hybrid multi-objective optimization approach with pareto local search for collaborative truck-drone routing problems considering flexible time windows. IEEE Trans Intell Transp Syst 23(8):13011\u201313025","journal-title":"IEEE Trans Intell Transp Syst"},{"issue":"1","key":"497_CR21","first-page":"105","volume":"24","author":"H Liu","year":"2022","unstructured":"Liu H, Xiaomin F (2022) Multi-objective multi-trip vehicle routing optimization considering customer satisfaction. Journal of University of Electronic Science and Technology of China (SOCIAL SCIENCES EDITION) 24(1):105\u2013112","journal-title":"Journal of University of Electronic Science and Technology of China (SOCIAL SCIENCES EDITION)"},{"key":"497_CR22","doi-asserted-by":"publisher","first-page":"943","DOI":"10.1007\/s13042-020-01213-4","volume":"12","author":"F Xue","year":"2021","unstructured":"Xue F, Dong T, You S, Liu Y, Tang H, Chen L, Yang X, Li J (2021) A hybrid many-objective competitive swarm optimization algorithm for large-scale multirobot task allocation problem. Int J Mach Learn Cybern 12:943\u2013957","journal-title":"Int J Mach Learn Cybern"},{"issue":"2","key":"497_CR23","doi-asserted-by":"publisher","first-page":"2530","DOI":"10.1109\/LRA.2020.2972894","volume":"5","author":"C Wei","year":"2020","unstructured":"Wei C, Ji Z, Cai B (2020) Particle swarm optimization for cooperative multi-robot task allocation: a multi-objective approach. IEEE Robotics and Automation Letters 5(2):2530\u20132537","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"24","key":"497_CR24","doi-asserted-by":"publisher","first-page":"4714","DOI":"10.3390\/math10244714","volume":"10","author":"Z Zhang","year":"2022","unstructured":"Zhang Z, Ma S, Jiang X (2022) Research on multi-objective multi-robot task allocation by lin-kernighan-helsgaun guided evolutionary algorithms. Mathematics 10(24):4714","journal-title":"Mathematics"},{"key":"497_CR25","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2024.127836","volume":"593","author":"C Wen","year":"2024","unstructured":"Wen C, Ma H (2024) An indicator-based evolutionary algorithm with adaptive archive update cycle for multi-objective multi-robot task allocation. Neurocomputing 593:127836","journal-title":"Neurocomputing"},{"issue":"2","key":"497_CR26","doi-asserted-by":"publisher","first-page":"182","DOI":"10.1109\/4235.996017","volume":"6","author":"K Deb","year":"2002","unstructured":"Deb K, Pratap A, Agarwal S, Meyarivan TAMT (2002) A fast and elitist multiobjective genetic algorithm: Nsga-ii. IEEE Trans Evol Comput 6(2):182\u2013197","journal-title":"IEEE Trans Evol Comput"},{"issue":"6","key":"497_CR27","doi-asserted-by":"publisher","first-page":"712","DOI":"10.1109\/TEVC.2007.892759","volume":"11","author":"Q Zhang","year":"2007","unstructured":"Zhang Q, Li H (2007) Moea\/d: A multiobjective evolutionary algorithm based on decomposition. IEEE Trans Evol Comput 11(6):712\u2013731","journal-title":"IEEE Trans Evol Comput"},{"key":"497_CR28","doi-asserted-by":"crossref","unstructured":"Guo H, Miao Z, Ji JC, Pan Q (2024) An effective collaboration evolutionary algorithm for multi-robot task allocation and scheduling in a smart farm. Knowledge-Based Systems, page 111474,","DOI":"10.1016\/j.knosys.2024.111474"},{"key":"497_CR29","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2024.101558","volume":"87","author":"J Dong","year":"2024","unstructured":"Dong J, Pan Q, Miao Z-H, Sang H-Y, Gao L (2024) An effective multi-objective evolutionary algorithm for multiple spraying robots task assignment problem. Swarm Evol Comput 87:101558","journal-title":"Swarm Evol Comput"},{"key":"497_CR30","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2024.101565","volume":"87","author":"C Wang","year":"2024","unstructured":"Wang C, Pan Q, Li X, Sang H, Wang B (2024) A multi-objective teaching-learning-based optimizer for a cooperative task allocation problem of weeding robots and spraying drones. Swarm Evol Comput 87:101565","journal-title":"Swarm Evol Comput"},{"issue":"5","key":"497_CR31","doi-asserted-by":"publisher","first-page":"1249","DOI":"10.26599\/TST.2023.9010075","volume":"29","author":"N Kang","year":"2024","unstructured":"Kang N, Miao Z, Pan Q, Li W, Tasgetiren FM (2024) Multi-objective teaching-learning-based optimizer for a multi-weeding robot task assignment problem. Tsinghua Science and Technology 29(5):1249\u20131265","journal-title":"Tsinghua Science and Technology"},{"key":"497_CR32","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2024.101730","volume":"91","author":"X Guo","year":"2024","unstructured":"Guo X, Miao Z-H, Pan Q-K, He X (2024) Hybrid loading situation vehicle routing problem in the context of agricultural harvesting: A reconstructed moea\/d with parallel populations. Swarm Evol Comput 91:101730","journal-title":"Swarm Evol Comput"},{"key":"497_CR33","doi-asserted-by":"publisher","first-page":"392","DOI":"10.1016\/j.compag.2019.01.009","volume":"157","author":"Y Xiong","year":"2019","unstructured":"Xiong Y, Peng C, Grimstad L, From PJ, Isler V (2019) Development and field evaluation of a strawberry harvesting robot with a cable-driven gripper. Comput Electron Agric 157:392\u2013402","journal-title":"Comput Electron Agric"},{"issue":"20","key":"497_CR34","doi-asserted-by":"publisher","first-page":"7337","DOI":"10.1039\/c2cp40132k","volume":"14","author":"K Eckert","year":"2012","unstructured":"Eckert K, Rongy L, De Wit A (2012) A+ b$$\\rightarrow $$ c reaction fronts in hele-shaw cells under modulated gravitational acceleration. Phys Chem Chem Phys 14(20):7337\u20137345","journal-title":"Phys Chem Chem Phys"},{"issue":"1","key":"497_CR35","doi-asserted-by":"publisher","first-page":"4562647","DOI":"10.1155\/2017\/4562647","volume":"2017","author":"F Valero","year":"2017","unstructured":"Valero F, Rubio F, Llopis-Albert C, Cuadrado JI (2017) Influence of the friction coefficient on the trajectory performance for a car-like robot. Math Probl Eng 2017(1):4562647","journal-title":"Math Probl Eng"},{"key":"497_CR36","unstructured":"U.S. Department of Energy. All-electric vehicles. https:\/\/www.fueleconomy.gov\/feg\/evtech.shtml, 2024. Accessed: December 12, 2024"},{"key":"497_CR37","doi-asserted-by":"crossref","unstructured":"Chen P, Liang J, Qiao K, Song H, Suganthan PN, Dai LL, Ban XX (2025) A reinforced neighborhood search method combined with genetic algorithm for multi-objective multi-robot transportation system. IEEE Transactions on Intelligent Transportation Systems, pages 1\u201314,","DOI":"10.1109\/TITS.2025.3557442"},{"issue":"12","key":"497_CR38","doi-asserted-by":"publisher","first-page":"7339","DOI":"10.3390\/app13127339","volume":"13","author":"F Uddin","year":"2023","unstructured":"Uddin F, Riaz N, Manan A, Mahmood I, Song O-Y, Malik AJ, Abbasi AA (2023) An improvement to the 2-opt heuristic algorithm for approximation of optimal tsp tour. Appl Sci 13(12):7339","journal-title":"Appl Sci"},{"key":"497_CR39","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1007\/s10710-005-6164-x","volume":"6","author":"CC Coello","year":"2005","unstructured":"Coello CC, Cort\u00e9s NC (2005) Solving multiobjective optimization problems using an artificial immune system. Genet Program Evolvable Mach 6:163\u2013190","journal-title":"Genet Program Evolvable Mach"},{"key":"497_CR40","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2024.101738","volume":"91","author":"P Chen","year":"2024","unstructured":"Chen P, Li Z, Qiao K, Suganthan PN, Ban X, Kunjie Yu, Yue C, Liang J (2024) An archive-assisted multi-modal multi-objective evolutionary algorithm. Swarm Evol Comput 91:101738","journal-title":"Swarm Evol Comput"},{"key":"497_CR41","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2025.101916","volume":"95","author":"P Chen","year":"2025","unstructured":"Chen P, Liang J, Qiao K, Ban X, Suganthan PN, Lin H, Zhang J (2025) A single-objective sequential search assistance-based multi-objective algorithm framework. Swarm Evol Comput 95:101916","journal-title":"Swarm Evol Comput"},{"issue":"1","key":"497_CR42","first-page":"108","volume":"214","author":"D Karaboga","year":"2009","unstructured":"Karaboga D, Akay B (2009) A comparative study of artificial bee colony algorithm. Appl Math Comput 214(1):108\u2013132","journal-title":"Appl Math Comput"},{"issue":"6","key":"497_CR43","doi-asserted-by":"publisher","first-page":"761","DOI":"10.1109\/TEVC.2014.2378512","volume":"19","author":"X Zhang","year":"2014","unstructured":"Zhang X, Tian Y, Jin Y (2014) A knee point-driven evolutionary algorithm for many-objective optimization. IEEE Trans Evol Comput 19(6):761\u2013776","journal-title":"IEEE Trans Evol Comput"},{"key":"497_CR44","doi-asserted-by":"crossref","unstructured":"Chen P, Liang J, Qiao K-J, Song H, Tian lei Ma, Kun-Jie Yu, Cai-Tong Yue, PonnuthuraiNagaratnam Suganthan, Witold Pedryc (2025) A segment anchoring-based balancing algorithm for agricultural multi-robot task allocation with energy constraints","DOI":"10.1109\/TEVC.2026.3659072"},{"issue":"2","key":"497_CR45","doi-asserted-by":"publisher","first-page":"545","DOI":"10.11144\/Javeriana.upsy10-2.cdcp","volume":"10","author":"G Macbeth","year":"2011","unstructured":"Macbeth G, Razumiejczyk E, Ledesma RD (2011) Cliff\u2019s delta calculator: A non-parametric effect size program for two groups of observations. Universitas Psychologica 10(2):545\u2013555","journal-title":"Universitas Psychologica"}],"container-title":["Memetic Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12293-026-00497-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12293-026-00497-3","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12293-026-00497-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T09:47:40Z","timestamp":1774864060000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12293-026-00497-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2,18]]},"references-count":45,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,3]]}},"alternative-id":["497"],"URL":"https:\/\/doi.org\/10.1007\/s12293-026-00497-3","relation":{},"ISSN":["1865-9284","1865-9292"],"issn-type":[{"value":"1865-9284","type":"print"},{"value":"1865-9292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2,18]]},"assertion":[{"value":"20 June 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 February 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 February 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"16"}}