This paper presents a comparative study between optimization-based andmarket-based approaches used for solving theMultirobot\r\ntask allocation (MRTA) problem that arises in the context of multirobot systems (MRS). The two proposed approaches are used\r\nto find the optimal allocation of a number of heterogeneous robots to a number of heterogeneous tasks. The two approaches\r\nwere extensively tested over a number of test scenarios in order to test their capability of handling complex heavily constrained\r\nMRS applications that include extended number of tasks and robots. Finally, a comparative study is implemented between the two\r\napproaches and the results show that the optimization-based approach outperforms themarket-based approach in terms of optimal\r\nallocation and computational time.
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