2026
Collaborative Task Allocation for Heterogeneous Multi-Robot Systems Through Iterative Clustering
David R. Martin, Brooks A. Butler, Scott Nivison, Magnus Egerstedt, Mohammad Abdullah Al Faruque, Pramod P. Khargonekar
RA-L 2026
Multi-robot systems face the challenge of efficiently allocating teams of heterogeneous robots to tasks. The task allocation problem is complicated by collaborative interactions between robots where teams of robots develop emergent capabilities that enable them to complete tasks that would be ineffi