Related papers: Sample Greedy Based Task Allocation for Multiple R…
Task allocation has been a well studied problem. In most prior problem formulations, it is assumed that each task is associated with a unique set of resource requirements. In the scope of multi-robot task allocation problem, these…
We study the problem of assigning robots with actions to track targets. The objective is to optimize the robot team's tracking quality which can be defined as the reduction in the uncertainty of the targets' states. Specifically, we…
This paper deals with large-scale decentralised task allocation problems for multiple heterogeneous robots with monotone submodular objective functions. One of the significant challenges with the large-scale decentralised task allocation…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite common that optimization problems are coupled with one another…
Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…
One simplifying assumption in existing and well-performing task allocation methods is that the robots are single-tasking: each robot operates on a single task at any given time. While this assumption is harmless to make in some situations,…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
The submodular maximization problem is widely applicable in many engineering problems where objectives exhibit diminishing returns. While this problem is known to be NP-hard for certain subclasses of objective functions, there is a greedy…
In this paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
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…
We propose a decentralized auction-based algorithm for the solution of dynamic task allocation problems for spatially distributed multi-agent systems. In our approach, each member of the multi-agent team is assigned to at most one task from…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment Problem, where the goal is to find a maximum payoff while…
In this article we propose a game-theoretic approach to the multi-robot task allocation problem using the framework of global games. Each task is associated with a global signal, a real-valued number that captures the task execution…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…