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In the first stage of the solution, a variable task pool is used to store dynamically added tasks, which can dynamically divide continuous and large-scale task allocation problems into small-scale subproblems to solve them to meet dynamic requirements. And an adaptive control strategy is used to automatically adjust the total number of tasks in the task pool to achieve a trade-off among throughput, energy consumption, and waiting time, which has better adaptability than manually adjusting the size of the task pool. In the second stage of the solution, when the task pool is full, tasks in the task pool will be assigned to robots. For the task allocation problem, this paper regards it as an optimization problem and uses the CMA-ES algorithm to find the optimal task assignment solution for all the robots. By comparing with fixed threshold method under 56 different task pool sizes, the experimental results show that the throughput can be close to reaching the optimal level, and the average distance traveled by robots to handle each unit is lower using adaptive threshold method; so, adaptive task pool solution has better adaptability and can find the optimal task pool size by itself. This method can satisfy the dynamic and real-time requirements and can be effectively applied to the intelligent warehouse system.<\/jats:p>","DOI":"10.1155\/2022\/2056617","type":"journal-article","created":{"date-parts":[[2022,4,18]],"date-time":"2022-04-18T23:20:42Z","timestamp":1650324042000},"page":"1-9","source":"Crossref","is-referenced-by-count":3,"title":["Multirobot Adaptive Task Allocation of Intelligent Warehouse Based on Evolutionary Strategy"],"prefix":"10.1155","volume":"2022","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0756-6077","authenticated-orcid":true,"given":"Yifan","family":"Liu","sequence":"first","affiliation":[{"name":"School of Information and Electrical Engineering, Ludong University, Yantai 264025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1541-501X","authenticated-orcid":true,"given":"Fei","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Information and Electrical Engineering, Ludong University, Yantai 264025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0632-7149","authenticated-orcid":true,"given":"Li","family":"Tang","sequence":"additional","affiliation":[{"name":"School of Physics and Optoelectronic Engineering, Ludong University, Yantai 264025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5212-4505","authenticated-orcid":true,"given":"Chuanzheng","family":"Bai","sequence":"additional","affiliation":[{"name":"School of Information and Electrical Engineering, Ludong University, Yantai 264025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5658-8315","authenticated-orcid":true,"given":"Li","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Information and Electrical Engineering, Ludong University, Yantai 264025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"issue":"6","key":"1","first-page":"10","article-title":"Analysis on the development of e-commerce logistics service industry and countermeasures","volume":"20","author":"M. 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