Repeated Sequential Single-Cluster Auctions with Dynamic Tasks for Multi-Robot Task Allocation with Pickup and Delivery

  • Bradford Heap
  • Maurice Pagnucco
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8076)


In this paper we study an extension of the multi-robot task allocation problem for online tasks requiring pickup and delivery. We extend our previous work on sequential single-cluster auctions to handle this more complex task allocation problem. Our empirical experiments analyse this technique in the domain of an environment with dynamic task insertion. We consider the trade-off between solution quality and overall planning time in globally reallocating all uncompleted tasks versus local replanning upon the insertion of a new task. Our key result shows that global reallocation of all uncompleted tasks outperforms local replanning in minimising robot path distances.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Bradford Heap
    • 1
  • Maurice Pagnucco
    • 1
  1. 1.School of Computer Science and EngineeringThe University of New South WalesSydneyAustralia

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