A fast distributed auction and consensus process using parallel task allocation and execution

In a multi-robot system, the coordination and cooperation among the robots determine the effectiveness of task execution. Different centralised and distributed task allocation algorithms have been proposed by researchers. Recently consensus based task allocation has been extensively researched because of its robustness in handling large teams of robots. We propose a new auction and consensus based algorithm for fast task allocation in parallel with task execution. The performance of the proposed algorithm under different conditions is analyzed and compared with other distributed consensus algorithms.