  In this paper, we study the multi-robot task allocation problem where a group
of robots needs to be allocated to a set of tasks so that the tasks can be
finished optimally. One task may need more than one robot to finish it.
Therefore the robots need to form coalitions to complete these tasks.
Multi-robot coalition formation for task allocation is a well-known NP-hard
problem. To solve this problem, we use a linear-programming based graph
partitioning approach along with a region growing strategy which allocates
(near) optimal robot coalitions to tasks in a negligible amount of time. Our
proposed algorithm is fast (only taking 230 secs. for 100 robots and 10 tasks)
and it also finds a near-optimal solution (up to 97.66% of the optimal). We
have empirically demonstrated that the proposed approach in this paper always
finds a solution which is closer (up to 9.1 times) to the optimal solution than
a theoretical worst-case bound proved in an earlier work.
