Research Article
A Comparative Study between Optimization and Market-Based Approaches to Multi-Robot Task Allocation
Algorithm 1
SA-based MRTA.
| Input: Tasks list , Robots list , | | Distances between tasks | | Output: Optimal allocation | | (1) Define: Initial temperature , Final | | temperature , Iterations per temperature | | , Current temperature , | | Geometric coefficient , Transition probability | | , Current allocation , | | Neighbor allocation , Current cost | | , Neighbor cost , Optimal | | cost | | (2) generateValidSolution (, , | | ) | | (3) getAllocationCost () | | (4) | | (5) while do | | (6) for to do | | (7) | | generateNeighborSolution () | | (8) | | getAllocationCost () | | (9) if then | | (10) | | (11) | | (12) if then | | (13) | | (14) | | (15) end | | (16) else | | (17) Generate: A random number | | | | (18) = | | | | (19) if then | | (20) | | (21) | | (22) end | | (23) end | | (24) end | | (25) = | | (26) end |
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