Multi-Robot Task Allocation Games in Dynamically Changing Environments
Shinkyu Park Yaofeng Desmond Zhong Naomi Ehrich Leonard Shinkyu Park Yaofeng Desmond Zhong Naomi Ehrich Leonard
We propose a game-theoretic multi-robot task allocation framework that enables a large team of robots to optimally allocate tasks in dynamically changing environments. As our main contribution, we design a decision-making algorithm that defines how the robots select tasks to perform and how they repeatedly revise their task selections in response to changes in the environment. Our convergence anal...