{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T05:07:14Z","timestamp":1783400834888,"version":"3.54.6"},"reference-count":33,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2023,11,23]],"date-time":"2023-11-23T00:00:00Z","timestamp":1700697600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Berlin Program for Sustainable Development\u2014BENE sponsored by the European Regional Development Fund","award":["#1247-B5-O"],"award-info":[{"award-number":["#1247-B5-O"]}]},{"name":"German Research Foundation","award":["#1247-B5-O"],"award-info":[{"award-number":["#1247-B5-O"]}]},{"name":"Open Access Publication Fund of TU Berlin","award":["#1247-B5-O"],"award-info":[{"award-number":["#1247-B5-O"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Many service robots have to operate in a variety of different Service Event Areas (SEAs). In the case of the waste collection robot MARBLE (Mobile Autonomous Robot for Litter Emptying) every SEA has characteristics like varying area and number of litter bins, with different distances between litter bins and uncertain filling levels of litter bins. Global positions of litter bins and garbage drop-off positions from MARBLEs after reaching their maximum capacity are defined as task-performing waypoints. We provide boundary delimitation for characteristics that describe the SEA. The boundaries interpolate synergy between individual SEAs and the developed algorithms. This helps in determining which algorithm best suits an SEA, dependent on the characteristics. The developed route-planning methodologies are based on vehicle routing with simulated annealing (VRPSA) and knapsack problems (KSPs). VRPSA uses specific weighting based on route permutation operators, initial temperature, and the nearest neighbor approach. The KSP optimizes a route\u2019s given capacity, in this case using smart litter bins (SLBs) information. The game-theory KSP algorithm with SLBs information and the KSP algorithm without SLBs information performs better on SEAs lower than 0.5 km2, and with fewer than 50 litter bins. When the standard deviation of the fill rate of litter bins is \u224810%, the KSP without SLB is preferred, and if the standard deviation is between 25 and 40%, then the game-theory KSP is selected. Finally, the vehicle routing problem outperforms in SEAs with an area of 0.5\u22645 km2, 50\u2013450 litter bins, and a fill rate of 10\u201340%.<\/jats:p>","DOI":"10.3390\/robotics12060159","type":"journal-article","created":{"date-parts":[[2023,11,23]],"date-time":"2023-11-23T11:31:25Z","timestamp":1700739085000},"page":"159","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Minimum Energy Utilization Strategy for Fleet of Autonomous Robots in Urban Waste Management"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7603-9604","authenticated-orcid":false,"given":"Valeria Bladinieres","family":"Justo","sequence":"first","affiliation":[{"name":"Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin,  10623 Berlin, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1038-4792","authenticated-orcid":false,"given":"Abhishek","family":"Gupta","sequence":"additional","affiliation":[{"name":"Methods of Product Development and Mechatronics, Technische Universit\u00e4t Berlin,  10623 Berlin, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4883-5467","authenticated-orcid":false,"given":"Tobias Fritz","family":"Umland","sequence":"additional","affiliation":[{"name":"Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin,  10623 Berlin, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5362-3939","authenticated-orcid":false,"given":"Dietmar","family":"G\u00f6hlich","sequence":"additional","affiliation":[{"name":"Methods of Product Development and Mechatronics, Technische Universit\u00e4t Berlin,  10623 Berlin, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,11,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Gonzalez-Aguirre, J.A., Osorio-Oliveros, R., Rodr\u00edguez-Hern\u00e1ndez, K.L., Liz\u00e1rraga-Iturralde, J., Morales Menendez, R., Ram\u00edrez-Mendoza, R.A., Ram\u00edrez-Moreno, M.A., and Lozoya-Santos, J.d.J. 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