Consensus-Based Robot Task Allocation (2D)

A fleet of robots faces a shared list of jobs and no central dispatcher. This top-down 2D control room runs the same Consensus-Based Bundle Algorithm (CBBA) as the 3D version, but adds a live bid-matrix heatmap and a fleet-cost sparkline alongside the field so you can see the negotiation itself, not just its outcome. Every robot greedily builds a bundle of the tasks it can reach most cheaply, broadcasts its bids, and a distributed consensus round resolves any tasks two robots claimed at once — the lower bidder drops the task and everything it queued afterward. Step through rounds one at a time or let it auto-run to convergence, drag and zoom the field to inspect any cluster, then send the robots to physically execute their negotiated routes.