Multiple Robots Tasks Allocation: An Auction-Based Approach Using Dynamic-Domain RRT

Consider a 2D environment, in which multiple robots, initially at random configurations, can move. We propose an auction-based method for the allocation of tasks to these robots. We consider tasks as some points in the environment. The environment is occupied with static obstacles, but other moving robots can be considered as dynamic obstacles and may prevent a robot from reaching its goal. So rebidding may be necessary at definite times. Our method is based on Dynamic-Domain RRT, which is suitable for cluttered environments and narrow passages. On the other hand, we will see that our method does not need a roadmap, which encompasses all regions of the environment and so reduces the time complexity.