Multi-robot task allocation: analyzing the complexity and optimality of key architectures

Abstract

Important theoretical aspects of multi-robot coordination mechanisms have, to date, been largely ignored. To address part of this negligence, we focus on the problem of multi-robot task allocation. We give a formal, domainindependent, statement of the problem and show it to be an instance of another, well-studied, optimization problem. In this light, we analyze several recently proposed approaches to multi-robot task allocation, describing their fundamental characteristics in such a way that they can be objectively studied, compared, and evaluated.

DOI: 10.1109/ROBOT.2003.1242189

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Cite this paper

@inproceedings{Gerkey2003MultirobotTA, title={Multi-robot task allocation: analyzing the complexity and optimality of key architectures}, author={Brian P. Gerkey and Maja J. Mataric}, booktitle={ICRA}, year={2003} }