Towards a Distributed Solution to the Multi-Robot Task Allocation Problem with Energetic and Spatiotemporal Constraints

摘要

The multi-robot task allocation problem consists of two distinct sets: a set of tasks (requiring resources) and a set of robots (offering resources); then tasks are allocated to robots; while optimizing a certain objective function, subject to some constraints: e.g. allocate the maximum number of tasks, minimize the distances travelled by robots, etc. In this paper, we propose some objective functions, and our main contribution is the introduction of energetic constraints on multi-robot task allocation problems. In addition, we propose an allocation method (based on parallel distributed guided genetic algorithms) and compare it to two state-of-the-art algorithms. Performed simulations and obtained results show the effectiveness and scalability of our solution, even with a large number of robots and tasks.