Multi-Robot Task Allocation-Complexity and Approximation

Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and Multi-Robot tasks Instantaneous Assignment (ST-MR-IA) setting where each task requires at least a certain number of robots and each robot can work on at most one task and incurs an operational cost for each task. Our aim is to consider a natural computational problem of allocating robots to complete the maximum number of tasks subject to budget constraints. We consider budget constraints of three different kinds: (1) total budget, (2) task budget, and (3) robot budget. We provide a detailed complexity analysis including results on approximations as well as polynomial-time algorithms for the general setting and important restricted settings.

Authors

• Haris Aziz UNSW Sydney
• Hau Chan University of Nebraska, Lincoln
• Ágnes Cseh
• Bo Li vivo Mobile Communication Co., Ltd
• Fahimeh Ramezani UNSW Sydney
• Chenhao Wang Beijing Normal University-Zhuhai BNU-HKBU United International College

Keywords

• Matching
• Robot-Task Allocation
• Complexity