Consensus-based fast and energy-efficient multi-robot task allocation

In a multi-robot system, the appropriate allocation of tasks to individual robots is very significant component. The availability centralized infrastructure can guarantee an optimal tasks. However, in many important scenarios such as search and rescue, exploration, disaster-management, war-field, etc., on-the-fly dynamic decentralized fashion only possible option. Efficient communication among plays crucial role any setting. Existing works on distributed Multi-Robot Task Allocation (MRTA) either assume that network available or naive paradigm used. On contrary, most these scenarios, unstable unavailable ad-hoc networking resort. Recent developments synchronous-transmission (ST) based wireless protocols are shown be more efficient than traditional asynchronous transmission-based ad hoc networks Wireless Sensor Network (WSN)/Internet Things (IoT) applications. current work first effort utilizes ST for MRTA. Specifically, we propose algorithm efficiently adapts ST-based many-to-many interaction minimizes information exchange reach consensus task allocation. We showcase efficacy proposed through extensive simulation-based study its latency energy-efficiency under different settings.