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A. Settimi and L. Pallottino: "A Subgradient Based Algorithm for Distributed Task Assignment for Heterogeneous Mobile Robots", International Conference on Decision and Control (CDC), December 2013.

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In this paper the problem of assigning tasks to a set of mobile and heterogeneous robots based on their ability and their costs to accomplish a task is considered. Moreover, the dynamics of the robot and a private cost function to be optimized together with the assignment are also taken into account. To deal with a possibly high number of tasks and robots a distributed approach based on the subgradient method is used.
A local dynamic optimal control and task assignment problem based on the information exchanged through a communication network are solved. With the proposed dynamic approach different types of kinematic vehicles with different motion constraints can be taken into account.