This is the source code of the Centralized Genetic Algorithm (GA) applied for ST-MR-TA (Single task per robot - Multi robots per task - time extended) Multi Robot Task Allocation (MRTA) problem.
To run the program, download all the source code and run "mainGA.m" in MATLAB.
Some parts of the code implemented based on the approach described in the paper "PSO-based optimal task allocation for cooperative timing missions" by Oh, Gyeongtaek, Youdan Kim, Jaemyung Ahn, and Han-Lim Choi, published in IFAC-PapersOnLine(2016).
The result of the algorithm with 500 iterations.
| Path | Cost convergence |
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