The mission planning problem of a team of modular and reconfigurable robots (MRRs) in hospital service is studied.By analyzing and modeling

it is abstracted as a multidimensional combinatorial optimization problem with multiobjectives and multiconstraints.A population-based metaheuristic

the Improved Binary Bees Algorithm (IBBA)

is proposed to optimize this NP-hard problem.The IBBA is featured as

1) Functional partitioning and parallel implementation of global search and local search;2) Integrating the methods of combinatorial schemes' expression and evolution

multiobjectives' handling and constraints' handing into the basic algorithm framework;and 3) Improving local search strategy from the prototype algorithm.Experiments are conducted with respect to a practical example.The IBBA exhibits feasibility

stability and advantages over its prototype algorithm in indices of solution quality

computational efficiency and single-objective optimization.Further

the advantages are interpretable from algorithm mechanisms.This study extends the field of research of MMR

and provides a general modeling method and optimization algorithm to solve general combinatorial optimization problems with multiobjectives and multiconstraints.