Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition

  title={Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition},
  author={Kiril Solovey and Saptarshi Bandyopadhyay and Federico Rossi and Michael T. Wolf and Marco Pavone},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A fundamental building block in most multi-robot systems is task allocation: assigning robots to tasks (e.g., patrolling an area, or servicing a transportation request) as they appear based on the robots’ states to maximize reward. In many practical situations, the… 

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