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Task Structure and Scalability in Multi-Robot Drawing: A Simulation Comparison of Single-Token and Shared-Token Allocation

A simulation study compared the speedup effects of two pipelines for multi-robot drawing: single-token (component-level) allocation and shared-token (decomposed) allocation, covering 385 drawings and team sizes of 1 to 8 robots. The results show diminishing speedup gains under single-token allocation; the shared-token pipeline achieved higher mean speedups and lower idle-time shares at larger team sizes, but it did not shorten completion time for every drawing.

Part of the event: Multi-robot drawing simulation: shared token allocation offers better scalability

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