General Background on Multi-robot Task Allocation

General Background on Multi-robot Task Allocation
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多机器人任务分配的一般背景

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发表时间：
2018
期刊：
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通讯作者：
Yasir Javed
Yasir Javed
中科院分区：
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文献类型：
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作者：
A. Koubâa;Hachemi Bennaceur;Imen Châari;Sahar Trigui;Adel Ammar;Mohamed;Maram Alajlan;O. Cheikhrouhou;Yasir Javed

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多机器人系统面临着诸多挑战，其中最典型的问题是多机器人任务分配问题。它包括寻找有效的分配机制，以便将不同的任务分配给可用的机器人集。为了实现这一目标，机器人将作为合作代理工作。MRTA旨在确保所考虑的任务的有效执行，从而最大限度地降低整体系统成本。各种研究工作都使用多重旅行商问题（MTSP）的公式来解决MRTA问题。在此背景下，本章对MRTA和MTSP进行了概述。并对相关工作进行了总结。
Multi-robot systems (MRSss) face several challenges, but the most typical problem is the multi-robot tasks allocation (MRTA). It consists in finding the efficient allocation mechanism in order to assign different tasks to the set of available robots. Toward this objective, robots will work as cooperative agents. MRTA aims at ensuring an efficient execution of tasks under consideration and thus minimizing the overall system cost. Various research works have solved the MRTA problem using the multiple traveling salesman problem (MTSP) formulation. In this context, an overview on MRTA and MTSP is given in this chapter. Furthermore, a summary of the related works is presented.