This document may be downloaded, read, stored and printed for your own use within the limits of § 53 UrhG but it may not be distributed via the internet or passed on to external parties.Dieses Dokument darf im Rahmen von § 53 UrhG zum eigenen Gebrauch kostenfrei heruntergeladen, gelesen, gespeichert und ausgedruckt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.Landry, ChantalWelz, WolfgangHenrion, RenéHömberg, DietmarSkutella, Martin2016-03-242019-06-2820130946-8633https://doi.org/10.34657/3305https://oa.tib.eu/renate/handle/123456789/3177A workcell composed of a workpiece and several welding robots is considered. We are interested in minimizing the makespan in the workcell. Hence, one needs i) to assign tasks between the robots, ii) to do the sequencing of the tasks for each robot and iii) to compute the fastest collisionfree paths between the tasks. Up to now, task assignment and path-planning were always handled separately, the former being a typical Vehicle Routing Problem whereas the later is modelled using an optimal control problem. In this paper, we present a complete algorithm which combines discrete optimization techniques with collision detection and optimal control problems efficientlyapplication/pdfeng510Discrete optimizationvehicle routing problemoptimal control problemcollision detectionmotion planningcooperative robotsTourenplanungKollisionserkennungRoboterReport