A review of collaborative optimization of task allocation and path planning in multi-robot systems

Abstract

Multi-robot systems are widely used in intelligent manufacturing, smart logistics and unmanned systems with high robustness and parallel operation capability. Task allocation and path planning are the core of collaborative decision-making, but their joint optimization is challenged by dynamic environments, communication constraints and heterogeneous conflicts. This paper defines the Co-MAPF problem, compares three system architectures, classifies mainstream algorithms, and summarizes the development trend of collaborative optimization for multi-robot systems.