This research focuses on developing and providing a solution to task allocation with multi-robot systems, as the multi-robot plays an essential part in autonomous systems integral to task allocation. The combination of low and high-level control algorithms must be decided to ensure the task goes smoothly.

The high-level control focuses on dividing a group of the robot to fill a specific area that has been decided with a clustering algorithm. On the other hand, the low-level control ensures that the robot keeps on coordination, such as performing cooperative control, avoiding intra-agent collision, and battery level awareness to support the operation for a long time.