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In order to fully exploit the advantages inherent to cooperatingheterogeneous multi-robot teams, sophisticated coordination algorithms areessential. Time-extended multi-robot task allocation approaches assign andschedule a set of tasks to a group of robots such that certain objectives areoptimized and operational constraints are met. This is particularly challengingif cooperative tasks, i.e. tasks that require two or more robots to workdirectly together, are considered. In this paper, we present aneasy-to-implement criterion to validate the feasibility, i.e. executability, ofsolutions to time-extended multi-robot task allocation problems with crossschedule dependencies arising from the consideration of cooperative tasks andprecedence constraints. Using the introduced feasibility criterion, we proposea local improvement heuristic based on a neighborhood operator for the problemclass under consideration. The initial solution is obtained by a greedyconstructive heuristic. Both methods use a generalized cost structure and aretherefore able to handle various objective function instances. We evaluate theproposed approach using test scenarios of different problem sizes, allcomprising the complexity aspects of the regarded problem. The simulationresults illustrate the improvement potential arising from the application ofthe local improvement heuristic.

Multi-Robot Task Allocation and Scheduling Considering Cooperative Tasks and Precedence Constraints