A survey and analysis of task allocation algorithms in multi-robot systems

The problem of multi-robot task allocation (MRTA) recently has received significant attention within the robotic research community. Despite the algorithms of the MRTA problems are growing in popularity and quality, they are scattered in different literature. In addition, the evaluation criteria among the algorithms are inconsistent. To address this issue, we overview the principal MRTA algorithms and assess them under a relatively consistent criterion. In this paper, we launch our research from three specific directions: task model, solution model, and magnitudes used in algorithm's cost function.