marcosrodrigueza / mrtalib

Multi-Robot Task Allocation library for heterogeneous swarms written in C++

MRTAlib is a C++ library that solves the problem of Multi-Robot Task Allocation for heterogeneous swarms of robots in a simple yet computationally effective way, mainly in Search & Rescue scenarios.

Library Overview

The main functionality is encapsulated under the TaskManager class, which provides different public methods to allow different modes of operation.

• One can opt for the high-level public methods that provide ready to use solutions for tasks completion or simulation.

• Alternatively, mid-level public methods can be used. They provide unit operations and allow the user to alternate his own code and modify the global behavior of the Allocation.

The main algorithm running underneath the library for the allocation is based on the so called Market Based Approach (MBA), but a mechanism is provided in order to customize how the allocation is performed from the bidding Lists.

Note:

The present work is part of a Bachelor thesis. Further information will be provided when the publication becomes available at University Carlos III de Madrid open media platform.

mrtalib's Issues

License

Hello, this seems like an interesting repo. However, it lacks a license, meaning other devs can't know how to use it (if at all). Thanks!