Multi-robot Task Allocation: A Review of the State-of-the-Art

1 Introduction

The applicability areas of MRS: intelligent security, search and rescue, surveillance, humanitarian demining, environment monitoring, health care and so on.

MRTA problem is one of the most challenging problems of MRS.

Important aspects of MRTA: allocation of complex tasks, dynamic task allocation, heavily constrained task allocation, heterogeneous allocation and so on.

2 Multi-robot Task Allocation (MRTA) Problem

MRTA problem addresses the question of finding the task-to-robot assignments in order to achieve the overall system goals.

The MRTA problem can be model as a Multiple Traveling Salesman Problem.

4 Organizational Paradigms (structure)

4.1 Centralized Approaches

For multi-robot task allocation problems where