Collaborative Delivery on a Fixed Path with Homogeneous Energy-Constrained Agents

We consider the problem of collectively delivering a package from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent starts from a distinct vertex of the graph, and can move along the edges of the graph carrying the package. However, each agent has limited energy budget allowing it to traverse a path of bounded length B; thus, multiple agents need to collaborate to move the package to its destination. Given the positions of the agents in the graph and their energy budgets, the problem of finding a feasible movement schedule is called the Collaborative Delivery problem and has been studied before.