This repository contains a C++ implementation of the FlowDec algolrothim for heterogeneous task allocation, as described in the following publication:
- Kiril Solovey, Saptarshi Bandyopadhyay, Federico Rossi, Michael T. Wolf, Marco Pavone: "Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition". International Conference on Robotics and Automation, 2021.
Implementation of the main algorithim is found in cpp/main.cpp. Supplementary code for CPLEX MILP integration, input generation, and visualization is given in the python library.