Communication-Free Distributed Multi-Robot Task Allocation under Partial Observations Using Labeled Multi-Bernoulli Filtering

Abstract

This paper proposes a communication-free multi-robot task allocation framework based solely on local observations. In this study, tasks are defined as reaching target locations. Each robot estimates the positions of neighboring robots using a Labeled Multi-Bernoulli (LMB) filter and independently assigns tasks through a greedy auction-based strategy. By continuously updating state estimates and reallocating tasks during execution, the proposed method enables decentralized coordination without explicit communication. Monte Carlo simulations demonstrate that the proposed method enables effective cooperative task allocation without inter-robot communication while remaining robust to measurement clutter and observation uncertainty.