A distributed assignment algorithm with position-dependent benefit function

This paper considers the assignment problem of mobile robots with a special form of time-attenuating and position-dependent benefit function. We propose a distributed algorithm to solve the assignment problem which ensures to convergence in finite time and results in a solution within nε of being optimal. Moreover, we show by simulation that the convergence time of the algorithm is sensitive to the attenuation factor with distance but insensitive to the velocity of the agents.