The implementation of a novel Integrated Task Allocation and Path Planning for Multi-Robot Coordination in Cluttered Environments (IMTAP).

We present a intergrated multi-robot task allocation and path planning method that accounts for additional obstacle avoidance and turning travel distances instead of ideal straight-line distances, achieving more efficient cooperation among multiple robots.

Paper: Integrated Task Allocation and Path Planning for Multi-Robot Coordination in Cluttered Environments, Gang Xu , Yuchen Wu, Sheng Tao, Yifan Yang, Tao Liu, Tao Huang, Huifeng Wu, and Yong Liu

Vedio: The accompanying video of IMTAP is available on YouTube and Bilibili:

Code: Our paper is currently under review, our code will be released once the paper is accepted.