Automatic Control and Computer Sciences

, Volume 52, Issue 5, pp 371–381 | Cite as

Task Allocation Methods for Homogeneous Multi-Robot Systems: Feed Pushing Case Study

  • A. NikitenkoEmail author
  • E. LavendelisEmail author
  • M. Ekmanis
  • R. Rumba


The paper discuses several options to implement multi-robot systems focusing on coordination and action planning of the system. Particular implementation described in details as a case study presents a solution used in multi-robot system for feed pushing in cattle farm. The paper describes implementation of behavior based robot team control and two different path planning methods ensuring that the feed pushing work is done properly. Conclusions outline suggestions for practical implementations regardless of particular application domain.


task allocation homogeneous multi-robot systems trajectory planning feed pushing robot 



Paper presents research results of the project “Multi robot system for applications in agriculture” funded by Competence center of Latvian Electrical Engineering and electronics Industry. Project number: 2DP/


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Copyright information

© Allerton Press, Inc. 2018

Authors and Affiliations

  1. 1.Department of Artificial Intelligence and Systems Engineering, Riga Technical UniversityRigaLatvia

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