GRAPE

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The source code for the paper "Anonymous Hedonic Game for Task Allocation in a Large-Scale Multiple Agent System" in T-RO (10.1109/TRO.2018.2858292)

GRAPE 최신버젼 다운로드

최종 버전 다운로드 (.zip)

// repository documentation

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# GRAPE
This is some of the source codes for the paper "Anonymous Hedonic Game for Task Allocation in a Large-Scale Multiple Agent System" in IEEE T-RO ([DOI: 10.1109/TRO.2018.2858292](https://ieeexplore.ieee.org/document/8439076))

## Fig 7 Visualisation

![alt text](https://github.com/inmo-jang/GRAPE/blob/master/Fig_7_Visualisation/Result/Result_TA_circle.gif)
![alt text](https://github.com/inmo-jang/GRAPE/blob/master/Fig_7_Visualisation/Result/Result_TA_skewed.gif)
![alt text](https://github.com/inmo-jang/GRAPE/blob/master/Fig_7_Visualisation/Result/Result_TA_square.gif)

Basically, each figure shows a decentralised process of multiple robots (n_a = 320) for task allocation (n_t = 5). Here, the circles and the squares indicate the positions of the robots and the tasks, respectively. The lines between the circles represent the communication networks of the robots. 
The colored robots are assigned to the same colored task; for example, yellow robots belong to the team for executing the yellow task. The size of a square indicates the reward of the corresponding task. The cost for a robot with regard to a task is considered as a function of
the distance from the robot to the task.

For more details, please refer to the paper.

## Brief Description about the Codes

Available at: https://github.com/inmo-jang/GRAPE/blob/master/Fig_7_Visualisation/README.md

## News
* [6 Apr 2024] There is a Python-equivalent code for GRAPE: https://github.com/inmo-jang/pyGRAPE

GRAPE

GRAPE 최신버젼 다운로드

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