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DOI: 10.4121/10e28ee0-9ad9-450d-8be7-6e6a91f2931f

Bichler, Jakob (2025): MRTA-Benchmark dataset: 250K Optimal Multi-Robot Task Allocation Instances with Heterogeneous Robots, Precedence Constraints & Dynamic Coalitions. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/10e28ee0-9ad9-450d-8be7-6e6a91f2931f.v1

Categories

• Mechanical Engineering
• Engineering

Keywords

benchmark dataset coalition formation heterogeneous robots imitation learning multi-robot task allocation (MRTA) precedence constraints scheduling

Licence

CC BY 4.0

Interoperability

• RO-Crate Metadata

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by Jakob Bichler

This dataset contains 250,000 optimally solved Multi-Robot Task Assignment (MRTA) instances designed for benchmarking and training task allocation methods. Each instance features heterogeneous robots with varying skill sets, multi-skill tasks requiring tight/dynamic coalition formation, spatially distributed robot and task locations, and precedence constraints between tasks. The scenarios are generated with randomized configurations and solved optimally on the DelftBlue supercomputer using an exact MILP formulation.

History

• 2025-07-08 first online, published, posted

Publisher

4TU.ResearchData

Format

JSON/.json

Organizations

TU Delft, Faculty of Mechanical Engineering, MSc Robotics