# Distributed Allocation and Scheduling of Tasks with Cross-Schedule Dependencies for Heterogeneous Multi-Robot Teams

arXiv: https://arxiv.org/abs/2109.03089 · HTML: https://mlsanity.com/paper/2109.03089/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 0 of its 64 references that are in the map.
- First posted on arXiv 7 Sep 2021.

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

- [KGLAMP: Knowledge Graph-guided Language model for Adaptive Multi-robot Planning and Replanning](https://mlsanity.com/paper/2602.04129/) (2026)
- [Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Teams](https://mlsanity.com/paper/2109.10106/) (2021)

## Abstract (arXiv)

To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for missions where the tasks of different robots are tightly coupled with temporal and precedence constraints. The approach is based on representing the problem as a variant of the vehicle routing problem, and the solution is found using a distributed metaheuristic algorithm based on evolutionary computation (CBM-pop). Such an approach allows a fast and near-optimal allocation and can therefore be used for online replanning in case of task changes. Simulation results show that the approach has better computational speed and scalability without loss of optimality compared to the state-of-the-art distributed methods. An application of the planning procedure to a practical use case of a greenhouse maintained by a multi-robot system is given.