A cooperative game theory framework is proposed to solve multi-robot task allocation
(MRTA) problems. In particular, a cooperative game is built to assess the performance of
sets of robots and tasks so that the Shapley value of the game can be used to compute their
average marginal contribution. This fact allows us to partition the initial MRTA problem into a
set of smaller and simpler MRTA subproblems, which are formed by ranking and clustering
robots and tasks according to their Shapley value. A large-scale simulation case study …