Clustering based distributed multi-robot task allocation algorithm in large-scale systems

This paper proposes a consistency bundle algorithm based on clustering grouping for large-scale task allocation problems. Large scale task allocation problems often result in incomplete network coverage, exponential increase in communication frequency, and communication obstruction. Therefore, this article first uses clustering algorithms to group robots based on the number of tasks, transforming large-scale problems into small-scale problems; Secondly, use the consistency bundle algorithm to solve the task allocation problem for each group separately; Finally, the algorithm was used for simulation experiments on large-scale task allocation problems, and the results showed that the proposed algorithm can solve the problem while effectively reducing the number of communications.