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This paper investigates the multirobot task allocation (MRTA) problem for a group of heterogeneous mobile robots. The robots and tasks are characterized by resources as required by task execution. The robots are required to generate optimal solutions for the MRTA problem while forming coalitions to meet the resource constraints imposed by tasks. A leader-follower based coalition methodology is developed,...
This paper presents the recent development of a leader-follower coalition based task allocation methodology. The resources required by task implementation are utilized in modeling both the robots and the tasks. The robots are required to work cooperatively in forming coalitions to accomplish the tasks. There are two types of constraints for task-imposed resource. One is the basic constraint to guarantee...
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