Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic  applications such as search, rescue and area exploration. We consider the Single-Task robots and Multi-Robot tasks Instantaneous Assignment (ST-MR-IA) setting where each task requires at least a certain number of robots and each robot can work on at most one task and incurs an operational cost for each task. Our aim is  to consider a natural computational problem of allocating robots to complete the maximum number of tasks subject to budget constraints. We consider budget constraints of three different kinds: (1) total budget, (2) task budget, and (3) robot budget. We provide a detailed complexity analysis including results on approximations  as well as polynomial-time algorithms for the general setting and important restricted settings.

Multi-Robot Task Allocation—Complexity and Approximation

Van Zuylen et al. introduced the notion of a popular ranking in a voting context, where each voter submits a strictly-ordered list of all candidates. A popular ranking pi of the candidates is at least as good as any other ranking sigma in the following sense: if we compare pi to sigma, at least half of all voters will always weakly prefer pi. Whether a voter prefers one ranking to another is calculated based on the Kendall distance.

On Weakly and Strongly Popular Rankings

S1: Computational Social Choice 1

technical paper

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Multi-Robot Task Allocation—Complexity and Approximation

On Weakly and Strongly Popular Rankings

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