utkarshjp7 / MRTA

A simulator for multi robot task allocation developed with ROS and Gazebo.

run catkin_make under catkin_ws directory to build the package.

Follow these two steps to run auction-based task allocation algorithm.

1. generate precedence graph

   Navigate to catkin_ws/src/mrta/src/PIA folder and run DataGenerator.py 1. This will generate data/dataset1.pickle file.

2. start robots

   run start_robot.py 1.

3. allocate tasks

   run allocate_tasks.py 1.

To print the result of the PIA algorithm, run print_results.py 1.