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Each instance features heterogeneous robots with varying skill sets, multi-skill tasks requiring tight/dynamic coalition formation, spatially distributed robot and task locations, and precedence constraints between tasks. The scenarios are generated with randomized configurations and solved optimally on the DelftBlue supercomputer using an exact MILP formulation.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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","url":"https://data.4tu.nl/datasets/10e28ee0-9ad9-450d-8be7-6e6a91f2931f","contentUrl":null,"metadataVersion":0,"schemaVersion":"http://datacite.org/schema/kernel-4","source":"api","isActive":true,"state":"findable","reason":null,"viewCount":0,"viewsOverTime":[],"downloadCount":0,"downloadsOverTime":[],"referenceCount":0,"citationCount":0,"citationsOverTime":[],"partCount":0,"partOfCount":0,"versionCount":0,"versionOfCount":1,"created":"2025-07-08T06:15:40.000Z","registered":"2025-07-08T06:15:44.000Z","published":"2025","updated":"2025-07-08T06:15:44.000Z"},"relationships":{"client":{"data":{"id":"delft.data4tu","type":"clients"}},"provider":{"data":{"id":"scpr","type":"providers"}},"media":{"data":{"id":"10.4121/10e28ee0-9ad9-450d-8be7-6e6a91f2931f","type":"media"}},"references":{"data":[]},"citations":{"data":[]},"parts":{"data":[]},"partOf":{"data":[]},"versions":{"data":[]},"versionOf":{"data":[{"id":"10.4121/10e28ee0-9ad9-450d-8be7-6e6a91f2931f.v1","type":"dois"}]}}}}