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

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/vbx7xkcwt5u49ganba5rsjd26
- Original: https://arxiv.org/abs/2610.22670

## Summary

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.