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arXiv · 2103.12370

Multi-Robot Task Allocation -- Complexity and Approximation

Haris Aziz·Hau Chan·Ágnes Cseh·Bo Li·Fahimeh Ramezani·Chenhao Wang
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Abstract

Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and Multi-Robot tasks Instantaneous Assignment (ST-MR-IA) setting where each task requires at least a certain number of robots and each robot can work on at most one task and incurs an operational cost for each task. Our aim is to consider a natural computational problem of allocating robots to complete the maximum number of tasks subject to budget constraints. We consider budget constraints of three different kinds: (1) total budget, (2) task budget, and (3) robot budget. We provide a detailed complexity analysis including results on approximations as well as polynomial-time algorithms for the general setting and important restricted settings.

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Haris Aziz, Hau Chan, Ágnes Cseh, Bo Li, Fahimeh Ramezani, Chenhao Wang. 2021-03-23. Multi-Robot Task Allocation -- Complexity and Approximation. https://arxiv.org/abs/2103.12370

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