Multiple Task Allocation Problems with Team Formation

Multiple task allocation with team formation is a NP-hard hierarchical combinatorial optimization problem, and some restrictions must be imposed on task and team combinations. Through task classification, and imposing restrictions on the number of tasks that an agent can perform, and the number of agents that a team can have, the set of feasible allocations is significantly reduced. Based on these restrictions, first, we apply the idea of the Apriori algorithm to generate all tasks that an agent can perform. Second, we devise a width-first search algorithm to generate all teams that can perform the given tasks, and then construct all team configurations that can perform the given task classification. Third, through least cost calculations, we get the optimal team configuration and the corresponding task classification. Advantages of the method are that it significantly reduces the calculation of the cost function, and generates an optimal task classification while forming an optimal team configuration. Finally, we discuss the application of the method to the command and control of multiple UAVs project.