Multi-robot task allocation in the light of uncertainty

We describe an empirical study that sought general guidelines for task allocation strategies in multi-robot systems. We identify four distinct task allocation strategies, and demonstrate them in two versions of the multi-robot emergency handling task. We describe an experimental setup to compare results obtained from a simulated grid world to the results from real world experiments. Data resulting from eight hours of real mobile robot experiments are compared to the trend identified in simulation. The data from the simulations show that there is no single strategy that pro duces best performance in all cases, and that the best task allocation strategy changes as a function of the noise in the system. This result is significant, and shows the need for further investigation of task allocation strategies.