Repeated Auctions for Reallocation of Tasks with Pickup and Delivery upon Robot Failure
نویسندگان
چکیده
The task allocation problem with pickup and delivery is an extension of the widely studied multi-robot task allocation (MRTA) problem which, in general, considers each task as a single location to visit. Within the robotics domain distributed auctions are a popular method for task allocation [4]. In this work, we consider a team of autonomous mobile robots making deliveries in an officelike environment. Each robot has a set of tasks to complete, and each task is composed of a pickup location and a delivery location. The robots seek to complete their assigned tasks either minimising distance travelled or time taken according to a global team objective. During execution, individual robots may fail due to malfunctioning equipment or running low on battery power.
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