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Bundle Length Tradeoffs in Decentralized Multi-Robot Task Allocation Under Degraded Communications

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Bundle length B is commonly fixed when configuring multi-task multi-robot task allocation (MRTA) algorithms. MinSum and MinMax are known to favor different task distributions, but the role of B in this objective tradeoff has not been systematically characterized. Additionally, degraded-communication evaluations also often retain settings selected under ideal communication, leaving whether nominal bundle-length tuning transfers under message loss unresolved. We examine both questions for ACBBA, PI, and HIPC across six bundle lengths in 300 paired ten-target Collaborative Visit scenarios under i

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