Multi-robot Task Allocation based on Improved ADMM algorithm

Abstract

Task allocation has significant implications for robots performing tasks. For the task allocation problem of indoor robots, this paper uses the improved ADMM allocation algorithm to allocate tasks to heterogeneous robots, and also validates the algorithm with its own created multi-round dataset to get good results in simulation. Meanwhile, this paper also further verifies the algorithm in the physical environments to make the algorithm have a good feasibility.