Advances in Artificial Intelligence

Research Article

A Comparative Study between Optimization and Market-Based Approaches to Multi-Robot Task Allocation

GA-based MRTA.

Input: Tasks list , Robots list ,
Distances between tasks
Output: Optimal allocation
(1) Define: Parents list, , Children list
, Next generation list ,
Number of iterations , Elitism percent
, Population size , Current
allocation , Optimal allocation
(2) for to do
(3) generateValidSolution (,
, )
(4) end
(5) Minimum ()
(6) for to do
(7) if 25% then
(8) = 20%
(9) else if 50% 25%
then
(10) = 30%
(11) else if 75% 50%
then
(12) = 40%
(13) else
(14) = 50%
(15) end
(16) crossover (The minimum 10% of
)
(17) mutation (The maximum 90% of
)
(18) The minimum of

(19) The minimum of

(20) for to of
do
(21)
generateValidSolution (, ,
)
(22) end
(23) if Minimum () then
(24) Minimum ()
(25) end
(26)
(27) end
(28)