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 |
|