2P1-V06 Allocating Multiple Tasks to Heterogeneous Robots Based on the Theory of Comparative Advantage

Abstract

We propose a method of allocating multiple tasks among heterogeneous robots. The method is based on the theory of comparative advantage which is an economic theory. In this theory, an optimal allocation which is on the Pareto front is given. As an example, we apply this theory to a tidying task and a exploring task performed by two types of robots. In our experiments, we show that both tasks are finished earlier on condition that the allocation is on the Pareto front in the theory of comparative advantage, compared with the case where the allocation is not.