Generalized Assignment for Multi-Robot Systems via Distributed Branch-And-Price

In this article, we consider a network of agents that has to self-assign set tasks while respecting resource constraints. One possible formulation is the generalized assignment problem, where goal find maximum payoff satisfying capability We propose purely distributed branch-and-price algorithm solve problem in cooperative fashion. Inspired by classical (centralized) schemes, proposed algorithm, each agent locally solves small linear programs, generates columns solving simple knapsack problems, and communicates its neighbors fixed number basic columns. prove finite-time convergence an optimal solution problem. Then, apply scheme scenario, which team robots serve tasks. implement Robot Operating System testbed provide experiments for heterogeneous