Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network : Table 1

Table 1: Comparison of centralized, negotiation, and self-organized task allocation [26].


Task allocation	Advantages	Disadvantages

Centralized	Close to global optimum	Limited to small number of robots; not applicable in worst-case network; computation intensity
Negotiation	Only require short-range communication	Not scalable, solution not global optimum
Self-organized	Robust, scalable	Very difficult to achieve global optimum