Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot
  Systems   For a team of heterogeneous robots executing multiple tasks, we propose a
novel algorithm to optimally allocate tasks to robots while accounting for
their different capabilities. Motivated by the need that robot teams have in
many real-world applications of remaining operational for long periods of time,
we allow each robot to choose tasks taking into account the energy consumed by
executing them, besides the global specifications on the task allocation. The
tasks are encoded as constraints in an energy minimization problem solved at
each point in time by each robot. The prioritization of a task over others --
effectively signifying the allocation of the task to that particular robot --
occurs via the introduction of slack variables in the task constraints.
Moreover, the suitabilities of certain robots towards certain tasks are also
taken into account to generate a task allocation algorithm for a team of robots
with heterogeneous capabilities. The efficacy of the developed approach is
demonstrated both in simulation and on a team of real robots.

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The categories of this paper are: nlin
12
The categories of this paper are: nucl-th
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The categories of this paper are: bayes-an
8
The categories of this paper are: hep-ex
10
The categories of this paper are: q-bio
34
The categories of this paper are: chem-ph
29
The categories of this paper are: funct-an
11
The categories of this paper are: hep-lat
35
The categories of this paper are: mtrl-th
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
31
The categories of this paper are: ao-sci
24
The categories of this paper are: dg-ga
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The categories of this paper are: econ
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The categories of this paper are: acc-phys
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The categories of this paper are: cmp-lg