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Global Games Formulation of Multi-Robot Task Allocation in Robotics

A game-theoretic way to assign heterogeneous robots to tasks in which each task carries a real-valued global signal encoding its progress or urgency, and each robot maximises a linear utility that rises with the signal and falls with the number of robots already on the task. Students learn how conditions on the utility hyperparameters induce a mixed Nash equilibrium that spreads robots across tasks, and how the resulting assignment distribution is recovered by a single matrix inversion.