TY - DATA T1 - MRTA-Benchmark dataset: 250K Optimal Multi-Robot Task Allocation Instances with Heterogeneous Robots, Precedence Constraints & Dynamic Coalitions PY - 2025/07/08 AU - Jakob Bichler UR - DO - 10.4121/10e28ee0-9ad9-450d-8be7-6e6a91f2931f.v1 KW - multi-robot task allocation (MRTA) KW - heterogeneous robots KW - coalition formation KW - precedence constraints KW - scheduling KW - imitation learning KW - benchmark dataset N2 -

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.

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