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

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