Self-Organising Distributed Multi-Robot Task Assignment System Based on Ring Network

This letter proposes a self-organising distributed task assignment algorithm based on a ring network for multi-robot systems. Unlike conventional multi-robot task assignment methods, the proposed approach enables task assignment through simple data exchange, without the need for a supervisor, global synchronisation and leader election. To evaluate the proposed method, simulations were conducted with seven robots and variable task durations. Results show that all tasks were successfully assigned with balanced distribution. The optimal algorithm consistently chose the robot with the lowest execution cost, demonstrating efficient allocation without centralised control.