Multi-robot task allocation (MRTA) is an important area of research in\nautonomous multi-robot systems. The main problem in MRTA is to allocate a set of\ntasks to a set of robots so that the tasks can be completed by the robots while ensuring\nthat a certain metric, such as the time required to complete all tasks, or the distance\ntraveled, or the energy expended by the robots is reduced. We consider a scenario where\ntasks can appear dynamically and a task needs to be performed by multiple robots to\nbe completed. We propose a new algorithm called SQ-MRTA (Spatial Queueing-MRTA)\nthat uses a spatial queue-based model to allocate tasks between robots in a distributed\nmanner. We have implemented the SQ-MRTA algorithm on accurately simulated models\nof Corobot robots within the Webots simulator for different numbers of robots and tasks and\ncompared its performance with other state-of-the-art MRTA algorithms. Our results show\nthat the SQ-MRTA algorithm is able to scale up with the number of tasks and robots in\nthe environment, and it either outperforms or performs comparably with respect to other\ndistributed MRTA algorithms.
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