With plans to send humans to the Moon and further, the supply of resources like oxygen, water, fuel, etc., can be satiated by performing In-Situ Resource Utilization (ISRU), where resources from the extra-terrestrial body are extracted to be utilized. These ISRU missions can be carried out by a Multi-Robot System (MRS). In this research, a high-level auction- based Multi-Robot Task Allocation (MRTA) system is developed for coordinating tasks amongst multiple robots with distinct capabilities. A hierarchical decentralized coordination architecture is implemented in this research to allocate the tasks amongst the robots for achieving intentional cooperation in the Multi-Robot System (MRS). 3 different policies are formulated that govern how robots should act in the multiple auction situations of the auction-based task allocation system proposed in this research, and their performance is evaluated in a 2D simulation called pyrobosim using ROS2. The decentralized coordination architecture and the auction-based MRTA make the MRS highly scalable, reliable, flexible, and robust.

翻译：随着将人类送往月球及更远星球的计划推进，氧气、水、燃料等资源的供应可通过就地资源利用（ISRU）技术得到满足，该技术旨在从地外天体提取资源并加以利用。这些ISRU任务可由多机器人系统（MRS）执行。本研究开发了一种基于拍卖的高层级多机器人任务分配（MRTA）系统，用于协调具有不同能力的多台机器人之间的任务分配。研究中实现了一种分层去中心化协调架构，以在多机器人系统（MRS）中分配任务，从而实现机器人间的有意识协作。本研究提出了三种策略，用于规范机器人如何在本研究提出的基于拍卖的任务分配系统的多种拍卖情境中行动，并在基于ROS2的二维仿真平台pyrobosim中评估了其性能。该去中心化协调架构与基于拍卖的MRTA使多机器人系统具有高度可扩展性、可靠性、灵活性和鲁棒性。