Multi-Robot Task Allocation Using Abandoned-Undertaking Algorithm

A new approach is proposed in this thesis based on Abandoned-undertaking Algorithm for multi-robot task allocation. By comparing both the Greedy and Compound Emotion Algorithm in the average amount of communications among robots, the average amount of communications between robots with certain rate of messages got lost, and the total runtime for the team of robots to finish the tasks. The results show that Abandoned-undertaking Algorithm performed better with lower bandwidth.