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

Task allocationAdvantagesDisadvantages

CentralizedClose to global optimumLimited to small number of robots;
not applicable in worst-case network;
computation intensity
NegotiationOnly require short-range communicationNot scalable, solution not global optimum
Self-organizedRobust, scalableVery difficult to achieve global optimum