A Dynamic Territorializing Approach for Multiagent Task Allocation

<div>Comparing the performance of the proposed algorithm in terms of the workload, <span class="nowrap"><svg height="11.5564pt" id="M224" style="vertical-align:-2.26807pt" version="1.1" viewbox="-0.0498162 -9.28833 26.2885 11.5564" width="26.2885pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M962 650H739L732 622L760 619C812 613 819 604 798 552C760 457 671 267 606 131H604L511 638H480L237 131H233L183 554C177 607 183 614 226 619L248 622L257 650H24L17 622C88 615 92 611 103 524L173 -11H203L450 491H453L543 -11H575L839 529C882 609 886 613 953 622L962 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,12.669,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.167,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z"></path></g><g transform="matrix(.013,0,0,-0.013,21.6,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg>,</span> as the frequency of territorializing varies.</div>

Complexity

A Dynamic Territorializing Approach for Multiagent Task Allocation

Figure 6