# Decentralized Dynamic Task Allocation in Swarm Robotic Systems for Disaster Response

## TL;DR

This paper introduces a decentralized, efficient algorithm for multi-robot task allocation in disaster response, capable of handling deadlines, robot limitations, and asynchronous decisions in dynamic environments.

## Contribution

It presents a novel bipartite graph-based algorithm that addresses key limitations of existing MRTA methods in decentralized, dynamic scenarios.

## Key findings

- Effective in flood response UAV simulations
- Handles task deadlines and robot constraints
- Supports asynchronous decision-making

## Abstract

Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized multi-robotic task allocation (MRTA) methods simultaneously offer the following capabilities: consideration of task deadlines, consideration of robot range and task completion capacity limitations, and allowing asynchronous decision-making under dynamic task spaces. To provision these capabilities, this paper presents a computationally efficient algorithm that involves novel construction and matching of bipartite graphs. Its performance is tested on a multi-UAV flood response application.