A Distributed Algorithm for Proportional Task Allocation in Networks of Mobile Agents

In a proportional task allocation problem, it is desired for robotic agents to have equal duty to capability ratios. Here, this problem is addressed as a combination of deployment and consensus problems. Tasks occur in a convex region and each task is assigned to its nearest agent. Agents are deployed on this area in order to reach consensus over the value of their duty to capability ratio. A distributed, asynchronous, and scalable algorithm is presented for solving this problem in continuous time domain.