Algorithm Research & Explore
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2087-2093

Multi-robot dynamic task allocation algorithm under PIBT framework

Sun Guimi
Mao Jianlin
Zhang Jinbao
Mao Zhongxiang
Liang Longxiao
Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China

Abstract

In the multi-robot pickup and delivery(MAPD) problem, the traditional PIBT framework adopts a greedy task preemptive strategy. However, it fails to consider the dynamic changes of task arrivals and the global optimization of task assignment, resulting in low resource utilization efficiency. Therefore, this paper proposed a dynamic task allocation algorithm(APTR-PIBT) based on task reassignment mechanism suitable for dynamic task streams, aiming to improve the efficiency of dynamic task execution and resource utilization rate. The algorithm dynamically predicted the estimated time of arrival(ETA) of robots and combined it with task completion degrees to select the robot with the optimal ETA for preliminary task assignment. If the task was not completed on time, the system cleared the reservation and reassigned the task. The algorithm constructed a processing mechanism for reservation, clearance, and reassignment by integrating the path planning process in the PIBT framework, which effectively enhanced the real-time performance of the system and the efficiency of dynamic task allocation. Experimental results show that compared with baseline algorithms, APTR-PIBT can improve the efficiency of task stream completion by more than 10% without increasing service time. It effectively addresses the challenges of dynamic task streams and further improves the efficiency of task parallel processing.

Foundation Support

国家自然科学基金资助项目(62263017)
云南省科技人才与平台计划资助项目(202505AT350001)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.11.0464
Publish at: Application Research of Computers Printed Article, Vol. 43, 2026 No. 7
Section: Algorithm Research & Explore
Pages: 2087-2093
Serial Number: 1001-3695(2026)07-020-2087-07

Publish History

[2026-03-23] Accepted Paper
[2026-07-05] Printed Article

Cite This Article

孙桂秘, 毛剑琳, 张进宝, 等. 基于PIBT框架的多机器人动态任务分配算法 [J]. 计算机应用研究, 2026, 43 (7): 2087-2093. (Sun Guimi, Mao Jianlin, Zhang Jinbao, et al. Multi-robot dynamic task allocation algorithm under PIBT framework [J]. Application Research of Computers, 2026, 43 (7): 2087-2093. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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