SOURCE-LINKED INTELLIGENCE

Decentralized Multi-Robot Task Allocation Under Degraded Communication: A Benchmark of Performance, Reliability, and Computation

arXiv · AI, language, vision and robotics · article · Sep 12, 2026 · UTC

Selecting a decentralized Multi-Robot Task Allocation (MRTA) method for embedded deployment on autonomous platforms requires considering more than route performance alone. We benchmark six decentralized MRTA allocators (CBAA, ACBBA, PI, HIPC, DMCHBA, and DGA) in the Collaborative Visit (CV) scenario to characterize tradeoffs among MinMax and MinSum travel, communication robustness and demand, allocation reliability, computational burden, and scale sensitivity. The core study uses 500 paired ten-target instances across 25 ideal and degraded communication conditions spanning Bernoulli loss, Gilb

Read original source ↗ Open in workspace

recordType

paper

region

Global