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Fast task allocation (assignment) algorithm
License: MIT License
This project forked from iu-vail/iauction-algorithm
Fast task allocation (assignment) algorithm
License: MIT License
# # PLEASE READ THIS FILE FIRST. # # This is a centralized version of an optimal assignment algorithm based on # our paper "Optimal Market-based Multi-Robot Task Allocation via Strategic # Pricing" published in RSS 2013. The algorithm is written in C++ # (using STL as main data structures). # # The algorithm assumes the input a MAXIMIZATION problem. # # The time complexity of this implementation is O(N^3 lg N), but is tested # faster than other algorithms of the same time complexity. (Make sure the # DEBUG mode is turned off when running large size problem!) # Moreover, this algorithm in nature can be decentralized. # 11/2012 # Last update: on 6/2018 # The code was written a few years ago, but still compiled and worked like a charm on the latest linux system. # Papers and related work can be found at http://vail.sice.indiana.edu # Lantao Liu, <[email protected]> # ----------------------------------------------- # The code has been tested in Ubuntu 10.04+ and Mac OS 10.5., with gcc4.3.3. To compile, just type 'make' To clean, just type 'make clean' ! Micros of DEBUG in Define.h can toggle the debug mode; ! Micros of INTEGER in Define.h can toggle the data types of random values; ! Micros of MAX_RANDOM in Define.h specifies the max random values; Command Line: Type "./iAuction -h" to prompt below usage options. ./iAuction -i <file> #specify <file> which assignment will be #imported from. <file> contains a matrix. #Default: randomly generating assingment -s <size_t> #use random generator instead of input file, #<size_t> should specify seed for generator, #this helps analyze one specific assignment #Default: time(Null) -n <size_t> #if use random generator, tell me the size #Default: 5x5 #The random generater by default can genenerate #natrual number from 0 to 100. You can grep and #change macro MAX_RANDOM for other values For instance: ./iAuction run iAuction with a 5x5 random assignment everytime. ./iAuction -i example run iAuction on this example assignment ./iAuction -s 10 run iAuction with random seed 10, on a default 5x5 assignment ./iAuction -s 10 -n 20 run iAuction with random seed 10, on a 20x20 assignment
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