A Swarm Robotics Approach to Task Allocation under Soft Deadlines and Negligible Switching Costs

Developing swarm robotics systems for real-time applications is a challenging mission. Task deadlines are among the kind of constraints which characterize a large set of real applications. This paper focuses on devising and analyzing a task allocation strategy that allows swarm robotics systems to execute tasks characterized by soft deadlines and to minimize the costs associated with missing the task deadlines.

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