# Decentralized Dynamic Task Allocation in Swarm Robotic Systems for Disaster Response

arXiv: https://arxiv.org/abs/1907.04394 · HTML: https://mlsanity.com/paper/1907.04394/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Jul 2019.

## Built on by (most cited first, 2 of 2)

- [Bigraph Matching Weighted with Learnt Incentive Function for Multi-Robot Task Allocation](https://mlsanity.com/paper/2403.07131/) (2024)
- [Autonomous Collaborative Scheduling of Time-dependent UAVs, Workers and Vehicles for Crowdsensing in Disaster Response](https://mlsanity.com/paper/2506.04276/) (2025)

## Abstract (arXiv)

Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized multi-robotic task allocation (MRTA) methods simultaneously offer the following capabilities: consideration of task deadlines, consideration of robot range and task completion capacity limitations, and allowing asynchronous decision-making under dynamic task spaces. To provision these capabilities, this paper presents a computationally efficient algorithm that involves novel construction and matching of bipartite graphs. Its performance is tested on a multi-UAV flood response application.