Decentralized Task Allocation for Redundant Multi-Robot Systems: An Iterative Consensus Approach

An overactuated heterogeneous multi-robot system is considered, this being characterized by both a redundancy of the number of agents with respect to the tasks to be performed and input redundancy for each individual agent. We propose an algorithm that, based on local information only, can simultaneously assign the tasks, consistently with the different nature of each robot, and allocate the control efforts while satisfying the constraints on the actuators. The performances of the proposed method have been analysed by means of a simulation study, considering different scenarios and illustrating also the resilience of the approach with respect to faults.