Varying Bundle Size Reactive Multi-Task Assignment using Selective Cost Estimation for Multi-Agent Systems

arXiv:2606.24462v1 Announce Type: new Abstract: This paper presents a scalable framework for multi-robot task allocation in complex environments where estimating task execution costs is computationally expensive. While combinatorial auction-based approaches offer reliable solutions, the exponential complexity of bundle generation typically renders them intractable for real-time reactive applications, particularly when accurate path planning is required for cost validation. We address this throug...