Resource constrained multirobot task allocation with an optimal solution

This paper investigates the multirobot task allocation problem for a group of heterogeneous mobile robots while considering the resource constraints. The robots and tasks are characterized by resources as required by task execution. We propose to formulate this problem as a synchronization/simultaneity constrained set-partitioning mixed integer programming problem. The branch-and-bound approach is used to derive the optimal solution. Simulations for a small group of mobile robots demonstrate the effectiveness of the proposed approach.