In this paper, an event-Mixed Integer Linear Programming (MILP)-based algorithm is proposed to solve the task allocation problem in a Robotic Sensor Network (RSN). A fleet of two types of vehicles is considered, giving, as a result, a heterogeneous configuration of the network, since each type of vehicle has a nominal velocity and a set of allowed paths to go. The algorithm can be applied to the distributed estimation of the solar irradiance on a parabolic trough thermosolar power plant which can be used to increase the global efficiency of the plant. A simulation environment has been built to test the proposed algorithm, taking into account the behavior of the vehicles and the structure of the solar plant. The algorithm has been compared with traditional methods such as the Optimal Assignment Problem (OAP) using a set of indexes that have been defined to this purpose.

本文提出了一种基于事件混合整数线性规划（MILP）的算法来解决机器人传感器网络（RSN）中的任务分配问题。考虑了由两种类型的车辆组成的车队，因此给出了网络的异构配置，因为每种类型的车辆都具有标称速度和一组允许的行驶路径。该算法可以应用于抛物线槽式热太阳能发电厂的太阳辐照度分布估计，该估计可用于提高发电厂的整体效率。考虑到车辆的行为和太阳能发电厂的结构，已经建立了一个仿真环境来测试所提出的算法。