A Distributed Algorithm for the Multi-Robot Task Allocation Problem

  • Stefano Giordani
  • Marin Lujak
  • Francesco Martinelli
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6096)

Abstract

In this work we address the Multi-Robot Task Allocation Problem (MRTA). We assume that the decision making environment is decentralized with as many decision makers (agents) as the robots in the system. To solve this problem, we developed a distributed version of the Hungarian Method for the assignment problem. The robots autonomously perform different substeps of the Hungarian algorithm on the base of the individual and the information received through the messages from the other robots in the system. It is assumed that each robot agent has an information regarding its distance from the targets in the environment. The inter-robot communication is performed over a connected dynamic communication network and the solution to the assignment problem is reached without any common coordinator or a shared memory of the system. The algorithm comes up with a global optimum solution in O(n 3) cumulative time (O(n 2) for each robot), with O(n 3) number of messages exchanged among the n robots.

Keywords

Multi robot task allocation assignment problem distributed algorithm 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Stefano Giordani
    • 1
  • Marin Lujak
    • 1
  • Francesco Martinelli
    • 2
  1. 1.Dip. Ingegneria dell’ImpresaUniversity of Rome “Tor Vergata”Italy
  2. 2.Dip. Informatica Sistemi e ProduzioneUniversity of Rome “Tor Vergata”Italy

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