In this paper we introduce the delivery problem and propose a genetic algorithm solving the delivery problem. In the delivery problem, many heterogeneous robot agents collaborate to deliver an object to its destination aim to minimize the delivery time In this problem, each agent has different velocity So, the hand in sequence and places are critical to optimize the delivery time. We analyze properties of the delivery problem, and propose an exact algorithm for 1-dimensional space delivery problem. And then we describe a genetic algorithm for 2-diemnsioal case. Finally, we compare the results of these two algorithms to show the effectiveness of given genetic algorithm.

Genetic algorithm, Robot collaboration, Artificial agent, Optimization, Delivery problem