Multi-robot Task Allocation for Airfield Pavement Detection Tasks

When multi-robot systems execute large-area detection tasks, such as airport runways, taxiways, and parking aprons, it is necessary to consider the execution time of the detection tasks and the entry and exit positions of the robots. To shorten the overall time for executing inspection tasks, it is necessary to ensure that each robot can be allocated a balanced task during task allocation. In this paper, based on the sequential single-item (SSI) auction algorithm, a multi-robot task allocation method that considers the total distance of the robot and the area of the detection area is proposed to solve the problem of unbalanced robot load tasks. It can be better applied to a large area detection environment. In addition, this method can also obtain better experimental results for different priority detection tasks.