Social-welfare based task allocation for multi-robot systems with resource constraints

  title={Social-welfare based task allocation for multi-robot systems with resource constraints},
  author={Min-Hyuk Kim and Sang-Phil Kim and Seokcheon Lee},
  journal={Computers & Industrial Engineering},
This paper aims to propose a distributed task allocation algorithm for a team of robots that have constraints on energy resources and operate in an unknown dynamic environment. The objective of the allocation is to maximize task completion ratio while minimizing resource usage. The approach we propose is inspired by the social welfare in economics that helps extend the combined operational lifetime of the team by balancing resource consumptions among robots. This social welfare based task… CONTINUE READING
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