Evaluating the Impact of Resource Distribution on Efficiency of Multi-Robot Task Allocation System

Abstract

This paper examines how varying lunar resource distributions-uniform, clustered, and dispersed-affect the efficiency of task allocation and completion in a multi-robot system (MRS) designed for autonomous lunar mining. Using a 2D simulation environment, we analyze the interplay between resource location patterns and robot coordination. By implementing hierarchical decentralized coordination and auction-based task allocation, we investigate task completion time, travel distance, and robot utilization across different resource distributions. The findings provide insights into optimizing MRS design for diverse extraterrestrial environments, ensuring efficient In-Situ Resource Utilization (ISRU).