A spatial queuing-based algorithm for multi-robot task allocation

William Lenagh, Prithviraj Dasgupta, Angelica Munoz-Melendez

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


Multi-robot task allocation (MRTA) is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to allocate a set of tasks to a set of robots so that the tasks can be completed by the robots while ensuring that a certain metric, such as the time required to complete all tasks, or the distance traveled, or the energy expended by the robots is reduced. We consider a scenario where tasks can appear dynamically and a task needs to be performed by multiple robots to be completed. We propose a new algorithm called SQ-MRTA (Spatial Queueing-MRTA) that uses a spatial queue-based model to allocate tasks between robots in a distributed manner. We have implemented the SQ-MRTA algorithm on accurately simulated models of Corobot robots within the Webots simulator for different numbers of robots and tasks and compared its performance with other state-of-the-art MRTA algorithms. Our results show that the SQ-MRTA algorithm is able to scale up with the number of tasks and robots in the environment, and it either outperforms or performs comparably with respect to other distributed MRTA algorithms.

Original languageEnglish (US)
Pages (from-to)316-340
Number of pages25
Issue number3
StatePublished - Sep 1 2015


  • Multi-robot systems
  • Spatial queueing
  • Task allocation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence


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