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

— 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.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Brian P. Gerkey, Maja J. Mataric
• Keywords: ICRA 2003, Important Theoretical Aspects, Multi-robot Coordination Mechanisms, Multi-robot Task Allocation, Robotics