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Multi-Robot Task Allocation with Energetic, Spatial and Temporal Constraints

Farouq Zitouni, Ramdane Maamri, Abdelhafid Zitouni


The Multi-Robot Task Allocation problem is the situation where some tasks and robots are given, then assignments between them must be found in order to optimize a certain measure (e.g. allocate the maximum number of tasks, etc.). We propose a generic framework to address heavily constrained MRTA problems. Some objective functions are proposed and extensively tested on ten datasets, which is our main contribution. Also, two allocation
methods – exact and heuristic – are implemented, in order to compare values of adopted evaluation metrics. Performed simulations, obtained results, and comparative study show the effectiveness of the solution, even with a large number of robots and tasks.


Multi-Robot Systems, Multi-Robot Task Allocation, Energetic Constraints, Spatial Constraints, Temporal Constraints.

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