Introduction to algorithms
Methods for task allocation via agent coalition formation
Artificial Intelligence
An asynchronous complete method for distributed constraint optimization
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Taking DCOP to the Real World: Efficient Complete Solutions for Distributed Multi-Event Scheduling
AAMAS '04 Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems - Volume 1
Human-Robot Teaming for Search and Rescue
IEEE Pervasive Computing
Allocating tasks in extreme teams
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Multi-robot coordination and competition using mixed integer and linear programs
Multi-robot coordination and competition using mixed integer and linear programs
Ontology-based coalition formation in heterogeneous MRS
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Cooperative multi-robot reinforcement learning: a framework in hybrid state space
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Coalition formation with spatial and temporal constraints
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 3 - Volume 3
Designing Effective Heterogeneous Teams for Multiagent Routing Domains
WI-IAT '11 Proceedings of the 2011 IEEE/WIC/ACM International Conferences on Web Intelligence and Intelligent Agent Technology - Volume 02
Overlay networks for task allocation and coordination in large-scale networks of cooperative agents
Autonomous Agents and Multi-Agent Systems
Flood disaster mitigation: a real-world challenge problem for multi-agent unmanned surface vehicles
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Swarm-like Methodologies for Executing Tasks with Deadlines
Journal of Intelligent and Robotic Systems
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Existing approaches to multirobot coordination separate scheduling and task allocation, but finding the optimal schedule with joint tasks and spatial constraints requires robots to simultaneously solve the scheduling, task allocation, and path planning problems. We present a formal description of the multirobot joint task allocation problem with heterogeneous capabilities and spatial constraints and an instantiation of the problem for the search and rescue domain. We introduce a novel declarative framework for modeling the problem as a mixed integer linear programming (MILP) problem and present a centralized anytime algorithm with error bounds. We demonstrate that our algorithm can outperform standard MILP solving techniques, greedy heuristics, and a market based approach which separates scheduling and task allocation.