Priority-Based Task Allocation in Auction-Based Applications

One of the main subjects that are heavily studied in multi-robot domain is task allocation according to selected constraints and construct paths using these allocated tasks. In this paper a market-based task allocation method is proposed to allocate tasks according to their priorities and create paths for a mobile group in a known indoor environment. Proposed methodology is applied to an example with four mobile robots on a map that has twenty nodes. In order to solve tour construction with priority problem, Nearest Neighbor heuristic approach is modified and used. In the study agents communicate with each other through an Open Agent Architecture (OAA). Also simulations on MobileSim simulator program are conducted to show the effectiveness of the proposed method.