Task allocation within a heterogeneous multi-robot system

Abstract

Multi robot systems have been extensively researched over past decades. Many open theoretical and practical problems, associated with them, are not solved in a sufficient level. The paper introduces an approach to solve a task allocation problem within a heterogeneous multi robot system. A formal representation of the problem is presented. A heuristic algorithm than can solve the problem, is introduced. Application possibilities of the presented solution are discussed in the paper, too.