A game of drones: Game theoretic approaches for multi-robot task allocation in security missions

Kala Garapati, Juan Jesús Roldán*, Mario Garzón, Jaime del Cerro, Antonio Barrientos

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientificpeer-review

8 Citations (Scopus)


This work explores the potential of game theory to solve the task allocation problem in multi-robot missions. The problem considers a swarm with dozens of drones that only know their neighbors, as well as a mission that consists of visiting a series of locations and performing certain activities. Two algorithms have been developed and validated in simulation: one competitive and another cooperative. The first one searches the best Nash equilibrium for each conflict where multiple UAVs compete for multiple tasks. The second one establishes a voting system to translate the individual preferences into a task allocation with social welfare. The results of the simulations show both algorithms work under the limitation of communications and the partial information, but the competitive algorithm generates better allocations than the cooperative one.

Original languageEnglish
Title of host publicationAdvances in Intelligent Systems and Computing
Number of pages12
Publication statusPublished - 2018
Externally publishedYes

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


  • Game theory
  • Multi-robot mission
  • Security
  • Swarm
  • Task allocation


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