Abstract
Task assignment in heterogeneous multi-robot systems poses unique challenges due to the diverse capabilities of the robots. This article presents a study of a model in addressing the problem of task allocation within such systems, called task selection in heterogeneous mobile multi-robot systems, without communication, by decomposing complex tasks into elementary tasks. The study aims to reduce the time to complete tasks and improve the efficiency of the system. Ideal cooperation is defined by the criterion of accuracy in task selection by heterogeneous robots. The study shows that the problem is NP-hard when scaling by increasing the number of tasks and robots with different capabilities. The approach taken is called fuzzy decision making in selecting tasks. This latter is performed to evaluate a very high utility value related to the elementary task in the system, and another function is to evaluate the utility of the robot in the system that satisfies its capacity. The results show that our approach achieves better performance in terms of completion time, fairness of task distribution, and error probability. The approach can be applied to different real applications.
DOI: 10.61416/ceai.v26i3.9100