A comprehensive taxonomy for multi-robot task allocation

Task allocation is an important aspect of many multi-robot systems. The features and complexity of multi-robot task allocation (MRTA) problems are dictated by the requirements of the particular domain under consideration. These problems can range from those involving instantaneous distribution of simple, independent tasks among members of a homogenous team, to those requiring the time-extended scheduling of complex interrelated multi-step tasks for members of a heterogenous team related by several constraints. The existing widely used taxonomy for task allocation in multi-robot systems was designed for problems with independent tasks and does not deal with problems with interrelated utilities and constraints.…