An Adaptive Protocol for Dynamic Allocation of Tasks in a Multi-Robot System

Today, the dynamic allocation of tasks among autonomous robots is increasingly a complex process, due to multiple constraints and limitations. In fact, it allows us to assign optimally a given task to a group of robots. In this context, no central control is usually authorized to perform a given task, and any robot in the system can discover and identify tasks. Therefore, in this paper we propose a protocol for the allocation of tasks in a highly dynamic multi-robot environment. Moreover, the proposed protocol invests the optimization by ant colonnies to perform the optimal allocation between tasks and robots in the system. Finally, this protocol was simulated and tested on e-puck robots using the robotic simulator Webots, and the obtained results are good and promissing.