On the Problem of Task Planning in Multi-robot Systems

Abstract: Multi-robot task planning (MRTP) is one of the fundamental problems for multi-robot systems. An important question facing this research topic is, which robot should execute which task so as the expected overall sys-tem performance can be maximized? Many approaches have been proposed for such a purpose. This paper investigates the existing works in the field. The approaches have been surveyed and some representatives are compared with detailed results. A brief discussion and further research perspectives are also given at the end of the paper.