Decentralized multi-robot allocation of tasks with temporal and precedence constraints

  title={Decentralized multi-robot allocation of tasks with temporal and precedence constraints},
  author={Ernesto Nunes and Michael Zackery McIntire and Maria L. Gini},
  journal={Adv. Robotics},
AbstractWe present an auction-based method for a team of robots to allocate and execute tasks that have temporal and precedence constraints. Temporal constraints are expressed as time windows, within which a task must be executed. The robots use our priority-based iterated sequential single-item auction algorithm to allocate tasks among themselves and keep track of their individual schedules. A key innovation is in decoupling precedence constraints from temporal constraints and dealing with… 

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