Task Allocation for Heterogeneous Multi-Robot Systems with Diverse Capabilities

Abstract

This paper presents an algorithm for task allocation in a team of robots with diverse capabilities, aiming to minimize overall costs. Each robot's abilities are described by a capability vector, and the algorithm forms subgroups within the team to ensure they can collectively complete individual tasks. We particularly address cases where each robot can only handle a subset of the tasks due to physical limitations. The algorithm's effectiveness and practical application are demonstrated through simulations, which validate its ability to optimize task allocation in multi-robot teams.