Energy Efficient Multi Robot Package Delivery under Capacity-Constraints via Voronoi-Constrained Networks

We consider the problem of delivering multiple packages from a single pickup depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay Coordination Planning framework that constructs sparse relay trunks using Steiner tree optimization and then synthesizes robot-level pickup, relay, and delivery schedules. This framework reframes relays from incidental byproducts into central elements of coordination, offering a contrast with traditional delivery methods that rely on direct source-to-destination transport. Extensive experiments show consistent improvements of up to 34% compared to conventional baselines, underscoring the benefits of incorporating relays into the delivery process. These improvements translate directly to enhanced energy efficiency in multi-robot delivery under capacity constraints, providing a scalable framework for real-world logistics.