Multirobot task allocation in lunar mission construction scenarios

In this paper, we propose a method for multi-robot task allocation based on the concept of task decomposition for a lunar mission scenario. This methodology focuses on segmenting a task scenario into a sequence of operations called functional primitives that are defined a priori by a set of performance metrics and resource requirements. In real-time, multiple robotic agents determine their capabilities and skill sets associated with the defined functional primitives in order to determine a suitable allocation scheme. We discuss the methodology in detail and provide results for a simulated lunar mission construction scenario using the Multi-Agent Robot Simulator for Lunar Construction (MARS-LC) system.