A Fault-Tolerant Task Allocation Framework for Overactuated Multi-Robot Systems

Given a system of overactuated heterogeneous robots executing several tasks, we propose an algorithm that simultaneously assigns the tasks considering the different nature of the robots, and allocates the control while satisfying the limitations on the actuators. The efficiency of the proposed method has been tested in terms of robustness with respect to faults by means of numerical simulations, analysing different scenarios.