Hybrid SUSD-Based Task Allocation for Heterogeneous Multi-Robot Teams

Effective task allocation is an essential component to the coordination of heterogeneous robots. This paper pro- poses a hybrid task allocation algorithm that improves upon given initial solutions, for example from the popular decen- tralized market-based allocation algorithm, via a derivative- free optimization strategy called Speeding-Up and Slowing- Down (SUSD). Based on the initial solutions, SUSD performs a search to find an improved task assignment. Unique to our strategy is the ability to apply a gradient-like search to solve a classical integer-programming problem. The proposed strategy outperforms other state-of-the-art algorithms in terms of total task utility and can achieve near optimal solutions in simulation. Experimental results using the Robotarium are also provided.