Design and Implementation of Task Allocation and Task Distribution Methods for Multi-Robotic System Using FPGA

Multi-robot systems improve task efficiency in areas like healthcare, factories, and security. Our proposed Multi-Robot Task Allocation and Distribution (MRTAD) approach uses FPGA for fast, low-power, real-time task management. FPGA enables parallel execution andquick decisions, enhancing performance. Task allocation is either static or dynamic. Static allocation uses the Round Robin algorithm to evenly distribute tasks before robots start. Dynamic allocation uses a priority-based algorithm to assign urgent tasks first, improving responsiveness. For task distribution, auction-based methods let robots bid for tasks, while load-based methods consider current workloads for fair sharing. The system was developed in Verilog and implemented on FPGA using Vivado 2017.3 for resource utilization and power analysis. Tasks are sent to robots via Bluetooth using an Android app built on MIT App Inventor