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              <p>We consider a warehouse where loads are transported by a fleet of elementary robots that can be aggregated to form poly-robots. The poly-robots can be reconfigured over time to adapt to load types such as boxes and pallets. Reconfigurable poly-robots offers several advantages: adaptability to load type and environment, failure tolerance, stability and maneuverability. We study the problem of scheduling such a fleet with the objective to minimize the time to execute all transportation tasks. We propose an integer linear programming formulation for the problems with or without reconfiguration. We show that reconfigurability can reduce significantly the execution time. We also establish that the special case with a single type of load can be solved in polynomial time. We end by showing how to extend the mathematical formulation to transportation times that depend on load type and configuration.</p>
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