Resource-constrained assignment scheduling
Operations Research
An approximation algorithm for the generalized assignment problem
Mathematical Programming: Series A and B
A comparison of coordinated planning methods for cooperating rovers
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
Scheduling independent tasks to reduce mean finishing time
Communications of the ACM
The vehicle routing problem
The vehicle routing problem
Scheduling Algorithms
Coordination for Multi-Robot Exploration and Mapping
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Branch-And-Price: Column Generation for Solving Huge Integer Programs
Operations Research
Traveling salesman path problems
Mathematical Programming: Series A and B
Sequential bundle-bid single-sale auction algorithms for decentralized control
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Task allocation via coalition formation among autonomous agents
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 1
Methods for task allocation via agent coalition formation
Artificial Intelligence
CoMutaR: a framework for multi-robot coordination and task allocation
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
Multi-robot coalition formation
IEEE Transactions on Robotics
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Task allocation is an important aspect of many multi-robot systems. The features and complexity of multi-robot task allocation (MRTA) problems are dictated by the requirements of the particular domain under consideration. These problems can range from those involving instantaneous distribution of simple, independent tasks among members of a homogenous team, to those requiring the time-extended scheduling of complex interrelated multi-step tasks for members of a heterogenous team related by several constraints. The existing widely used taxonomy for task allocation in multi-robot systems was designed for problems with independent tasks and does not deal with problems with interrelated utilities and constraints. While that taxonomy was a ground-breaking contribution to the MRTA literature, a survey of recent work in MRTA reveals that it is no longer a sufficient taxonomy, due to the increasing importance of interrelated utilities and constraints in realistic MRTA problems under consideration. Thus, in this paper, we present a new, comprehensive taxonomy, iTax, that explicitly takes into consideration the issues of interrelated utilities and constraints. Our taxonomy maps categories of MRTA problems to existing mathematical models from combinatorial optimization and operations research, and hence draws important parallels between robotics and these fields.