# Task Allocation using a Team of Robots

arXiv: https://arxiv.org/abs/2207.09650 · HTML: https://mlsanity.com/paper/2207.09650/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 112 references that are in the map.
- First posted on arXiv 20 Jul 2022.

## Builds on (most cited first, 9 of 9)

- [A Comprehensive Survey on the Multiple Travelling Salesman Problem: Applications, Approaches and Taxonomy](https://mlsanity.com/paper/2102.12772/) (2021)
- [Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints](https://mlsanity.com/paper/2005.13109/) (2020)
- [A Distributed Version of the Hungarian Method for Multi-Robot Assignment](https://mlsanity.com/paper/1805.08712/) (2018)
- [Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities](https://mlsanity.com/paper/2003.03344/) (2020)
- [Resilient Task Allocation in Heterogeneous Multi-Robot Systems](https://mlsanity.com/paper/2009.04593/) (2020)
- [Multi-Robot Task Allocation -- Complexity and Approximation](https://mlsanity.com/paper/2103.12370/) (2021)
- [Partial Replanning for Decentralized Dynamic Task Allocation](https://mlsanity.com/paper/1806.04836/) (2018)
- [Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions](https://mlsanity.com/paper/2011.01164/) (2020)
- [Multi-Robot Task Allocation and Scheduling Considering Cooperative Tasks and Precedence Constraints](https://mlsanity.com/paper/2005.03902/) (2020)

## Built on by (most cited first, 1 of 1)

- [Decentralized Vision-Based Autonomous Aerial Wildlife Monitoring](https://mlsanity.com/paper/2508.15038/) (2025)

## Abstract (arXiv)

Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives and feasibility constraints amongst other variations of the multi-robot task allocation problem. There are many examples of important research progress in these directions. We present a general formulation of the task allocation problem that generalizes several versions that are well-studied. Our formulation includes the states of robots, tasks, and the surrounding environment in which they operate. We describe how the problem can vary depending on the feasibility constraints, objective functions, and the level of dynamically changing information. In addition, we discuss existing solution approaches for the problem including optimization-based approaches, and market-based approaches.