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Important theoretical aspects of multi-robot coordination mechanisms have, to date, been largely ignored. To address part of this negligence, we focus on the problem of multi-robot task allocation. We give a formal, domain-independent, statement of the problem and show it to be an instance of another, well-studied, optimization problem. In this light, we analyze several recently proposed approaches to multi-robot task allocation, describing their fundamental characteristics in such a way that they can be objectively studied, compared, and evaluated.
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on (Volume:3 )
Date of Conference: 14-19 Sept. 2003