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Dynamic Multi-Robot Task Allocation under Uncertainty and Communication Constraints: A Game-Theoretic Approach

2026-04-13 18:48:51
Maria G. Mendoza, Pan-Yang Su, Bryce L. Ferguson, S. Shankar Sastry
arXiv_RO
           
Abstract

We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents operate from distributed hubs with limited sensing and communication. We model incomplete information through hub-based sensing regions that determine task visibility and a communication graph that governs inter-hub information exchange. Using this framework, we propose Iterative Best Response (IBR), a decentralized policy in which each agent selects the task that maximizes its marginal contribution to the locally observed welfare. We compare IBR against three baselines: Earliest Due Date first (EDD), Hungarian algorithm, and Stochastic Conflict-Based Allocation (SCoBA), on a city-scale package-delivery domain with up to 100 drones and varying task arrival scenarios. Under full and sparse communication, IBR achieves competitive task-completion performance with lower computation time.

Abstract (translated)

URL

https://arxiv.org/abs/2604.11954

PDF

https://arxiv.org/pdf/2604.11954.pdf

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