Task allocation method (#303)

Open-RMF Open-RMF General
1

Posted by @dlfksj:

Hi
I’m trying to understand task allocation problem used in this repository and I found some facts now:

  • Fleet adapter has a task planner and TaskPlanner::complete_solve generates new task assignments.
  • Default cost calculator is BinaryPriorityCostCalculator and it calculates g and h values.
  • Dispatcher Node has three evaluator: LeastFleetDiffCostEvaluator, LeastFleetCostEvaluator, QuickestFinishEvaluator.

But I’m still struggling and I want to know the meaning of the values estimated for assigned/unassigned tasks.
Can you let me know what task allocation method is used or the papers you are referring to?

I’m new to multi-agent task allocation problems, and I need some help.
Thanks :slight_smile: