A distributed algorithm for the multi-robot minimum time task allocation problem

Abstract

Purpose The purpose of this study is to address the challenge of task allocation in multi-robot systems by getting the minimum overall task completion time and task allocation scheme while also minimizing robot energy consumption. This study aims to move away from traditional centralized methods and validate a more scalable distributed approach. Design/methodology/approach This paper proposes a distributed algorithm for the multi-robot task allocation problem, aimed at getting the minimum task completion time along with the task allocation scheme. The algorithm operates based on local interaction information rather than global information. By using the Consensus-Based Auction Algorithm (CBAA), it seeks to effectively minimize energy consumption without affecting the minimum completion time required for overall task allocation. Findings The proposed distributed algorithm successfully reduces robot energy consumption while effectively obtaining the shortest overall task completion time and corresponding task allocation scheme. Numerical simulations conducted using MATLAB software demonstrated its superior performance, and empirical testing on the Turtlebot3-Burger robot platform further substantiated these findings. Originality/value The original contribution of this study lies in the development of an enhanced distributed task allocation strategy using CBAA to improve efficiency in multi-robot environments. Its value extends to applications that require rapid and resource-aware coordination, such as automated logistics or search-and-rescue operations.