Sequential multi-agent task assignment using auction algorithm based on D∗ lite

In this paper, we study task assignment strategy for multi-agent systems in which the task space grows sequentially. Many task assignment algorithms are based on the heuristic schemes that result in optimal performance, but in time-varying conditions, real-time assignment techniques are needed. In order to maximize the real-time performance, an auction algorithm is adopted and modified with D* lite algorithm to handle various events and changes of environments. The numerical results show that the proposed approach can be solved in real-time for various scenario and can perform sequential tasks efficiently. The extensions and possible applications of the approach are also discussed.