A distributed algorithm for the multi-robot task allocation problem

Authors:
Stefano Giordani;Marin Lujak;Francesco Martinelli
Affiliations:
Dip. Ingegneria dell'Impresa, University of Rome "Tor Vergata", Italy;Dip. Ingegneria dell'Impresa, University of Rome "Tor Vergata", Italy;Dip. Informatica Sistemi e Produzione, University of Rome "Tor Vergata", Italy
Venue:
IEA/AIE'10 Proceedings of the 23rd international conference on Industrial engineering and other applications of applied intelligent systems - Volume Part I
Year:
2010

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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(n3) cumulative time (O(n2) for each robot), with O(n3) number of messages exchanged among the n robots.