Multi-Robot Task Allocation Approach Using ROS

In this paper, we discuss the implementation and simulation results of a fault tolerant Multi-robot Task Allocation (MRTA) architecture on Robot Operating System (ROS). We have chosen ALLIANCE, a fault tolerant, fully distributed, cooperative, and behavior-based system, as this architecture. In this first approach, the system parameters were find and set empirically and we do not discuss systems metrics, focusing on implementing the task allocation algorithm. The primary contribution of this paper is to show the benefits that ROS can bring to MRTA problems dealing with communication between heterogeneous robots and data management.