Task Allocation Methodologies for Multi-Robot Systems

Abstract

One of most important aspects in the design of multi-robot systems is the allocation of tasks among the robots in a productive and efficient manner. Task allocation methodologies must ensure that not only the global mission is achieved, but also the tasks are well distributed among the robots. An effective task allocation approach considers the available resources, the entities to optimize (time, energy, quality), the capabilities of the deployable robots, and appropriately allocates the tasks accordingly. This paper presents some important task allocation methodologies for multi-robot systems, providing a review of numerous approaches.