Multi-robot coordination with balanced task allocation and optimized path planning

A modification to the well-known shunting equation has successfully created a method of automated path generation. This paper further investigates the integration of automated path generation with task allocation in multi-robot coordination. It presents an algorithm that is able to equally distribute the workload of multiple mobile robots while guiding them to move along optimized paths in the presence of obstacles and environmental uncertainty. Experiment results are also provided in the paper to examine the operation of the proposed algorithm and its application.