We tested the algorithm on the task planning benchmark dataset for problems of XD[ST-SR-TA] class [1].

These task types require execution by a single robot (SR, single-robot tasks), and robots are allowed to execute only one task at a time (ST, single-task robots). The task allocation and scheduling procedure considers both current and future assignments (TA, time-extended assignment). In terms of complexity, these tasks involve cross-schedule dependencies (XD), where various constraints relate tasks from plans of different robots.