A Dynamic Task Equilibrium Allocation Algorithm Based on Combinatorial Auctions

In this paper, we mainly study the dynamic task allocation of Multi-robot and robots' utilization in exploration. Regarding new tasks may appear in the search process, a new method of online reallocation with combinatorial auction is proposed. Auction agent judges the bids of the new and old tasks that robots submitted in real time, determines who wins the bids and informs them to perform their own tasks. At the same time, task allocation may exist the problem of distribution imbalance, that is, utilization rate of robots is low. In view of this, a dynamic equilibrium allocation algorithm is proposed, balanced judgment formula and balanced evaluation coefficient BL are introduced to as far as possible to achieve fair distribution. Finally, simulation experiment shows that the proposed algorithm has a great improvement in Multi-robot utilization, execution time and the cost.