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

Algorithm 3

Relinquishing process.

Input: Best allocation 𝑏𝑒𝑠𝑡𝐴𝑙𝑙𝑜𝑐, Available tasks

    𝑎𝑣𝑎𝑖𝑙𝑇𝑎𝑠𝑘𝑠

Output: Relinquished tasks 𝑟𝑒𝑙𝑇𝑎𝑠𝑘𝑠

(1) Number of robots 𝑛

(2) Sub-tours list 𝑠𝑢𝑏𝑇𝑜𝑢𝑟𝑠

(3) Relinquished task 𝑟𝑒𝑙𝑇𝑎𝑠𝑘 Random number 𝑟𝑎𝑛𝑑

(4) 𝑠𝑢𝑏𝑇𝑜𝑢𝑟𝑠 ← getSubTours (𝑏𝑒𝑠𝑡𝐴𝑙𝑙𝑜𝑐)

(5) for  𝑖←1 to 𝑛  do

(6)   𝑟𝑎𝑛𝑑 ← getRandomNumber (𝑠𝑢𝑏𝑇𝑜𝑢𝑟𝑠(𝑖))

(7)   𝑟𝑒𝑙𝑇𝑎𝑠𝑘 ← removeTask (𝑏𝑒𝑠𝑡𝐴𝑙𝑙𝑜𝑐, 𝑟𝑎𝑛𝑑)

(8)   𝑎𝑣𝑎𝑖𝑙𝑇𝑎𝑠𝑘𝑠 ← add (𝑟𝑒𝑙𝑇𝑎𝑠𝑘)

(9) end