Hybrid SUSD-Based Task Allocation for Heterogeneous Multi-Robot Teams
Shengkang Chen,Tony X. Lin,Said Al-Abri,Ronald C. Arkin,Fumin Zhang,Shengkang Chen,Tony X. Lin,Said Al-Abri,Ronald C. Arkin,Fumin Zhang
Effective task allocation is an essential component to the coordination of heterogeneous robots. This paper proposes a hybrid task allocation algorithm that improves upon given initial solutions, for example from the popular decentralized market-based allocation algorithm, via a derivative-free optimization strategy called Speeding-Up and Slowing-Down (SUSD). Based on the initial solutions, SUSD p...
