Task allocation for spatially and temporally distributed tasks

Abstract

In multi robot task allocation, a set of tasks has to be allocated to a group of robots while optimizing some measure (for example, fuel or time). In order to find the optimal allocation, an exponential number of possibilities must be explored. In this work, we extend the Consensus Based Bundle Algorithm, to improve its support for tasks with time constraints. The modified algorithm is compared with the original one in order to show how strategic modifications to the algorithm increase the number of tasks successfully completed. © 2013 Springer-Verlag.