A multirobot system has cooperative team of robots designed to enhance efficiency of its operations. One of the critically investigated problems of multirobot system is the multirobot task allocation (MRTA) issue. The main objective of MRTA is to assign tasks to the most suitable robot based on its functions and capability as well as availability. In this paper, a task-oriented, auction-based task allocation framework is presented and tested through simulations and real-world experiments. The developed framework consists of a novel heuristic-based task allocation algorithm and communication module. It is implemented in a multirobot system, allowing tasks to be dynamically assigned to the robots as they achieve given tasks. The implemented framework shows robustness in its flexibility to the task and environment requirements such as resource and energy requirements and size of the environment. The framework involved a task allocation algorithm, which consists of bid generation and bid selection process, and a TCP/IP-based client-server communication module. The results from both simulations and real-world experiments matched, producing optimum results in task allocation.

多机器人系统具有协作的机器人团队，旨在提高其操作效率。多机器人系统受到严格研究的问题之一是多机器人任务分配（MRTA）问题。MRTA的主要目标是根据其功能，能力和可用性将任务分配给最合适的机器人。在本文中，提出了一个面向任务的，基于拍卖的任务分配框架，并通过模拟和实际实验对其进行了测试。开发的框架包括一个新颖的基于启发式的任务分配算法和通信模块。它在多机器人系统中实现，允许任务在完成给定任务时动态分配给机器人。实施的框架在适应任务和环境要求（例如资源和能源要求以及环境规模）方面显示出强大的灵活性。该框架涉及任务分配算法，该算法由投标生成和投标选择过程组成，以及基于TCP / IP的客户端-服务器通信模块。模拟和实际实验的结果均匹配，从而在任务分配中产生最佳结果。