Abstract: Embodiments are described for implementing a tour generation feature for completing tasks within a facility of an inventory management system. Coordinates for stations, starting locations of inventory holders, and rest locations of the inventory holders of the facility may be obtained. A set of tasks may be determined for each station based on an inventory item requirement associated with each station. A priority order for a subset of inventory holders may be determined based on priority characteristics associated with each inventory holder. Tours for the subset of inventory holders may be determined based on the set of tasks, the coordinates, and travel attributes for each inventory holder. The tours may be modified by iteratively invoking a large neighborhood search algorithm that uses destroy heuristics. Previously determined tours for other subsets of inventory holders may be updated using the modified tours for the subset of inventory holders.

Abstract: Embodiments herein describe a robotic system that uses range sensors to identify a vector map of an environment. The vector map includes lines that outline the shape of objects in the environment (e.g., shelves on the floor of a warehouse). The system identifies one or more line segments representing the boundary or outline of the objects in the environment using range data acquired by the range sensors. The robotic system can repeat this process at different locations as it moves in the environment. Because of errors and inaccuracies, line segments formed at different locations may not clearly align even when these line segments correspond to the same object. To account for this error, the robotic system match line segments identified at a first location with line segments identified at a second location. The matched line segments can be merged into a line that is stored in the vector map.