Cannot avoid penalty for fluctuating order arrival rate? Let's minimize

Consensus-based fast and energy-efficient multi-robot task allocation

“…A complete taxonomy of var-ious MRTA scenarios is summarised by Khamis et al [10]. Though various centralized task allocations algorithms are proposed in the literature for different classes of MRTA problem [11,12], their applicability is limited to a certain environment where stable communication infrastructure is available. In contrast to the centralized approaches of MRTA, decentralized approaches are proposed to overcome most of the limitations of a centralized system.…”

“…However, in practice, all tasks may not be available at the beginning. Thus, we also consider two dynamic scenarios -continuous and spiking as suggested in [12]. In the continuous scenario, at every fixed interval, a similar number of tasks are discovered/added to the system.…”