Balanced connected task allocations for multi-robot systems: An exact flow-based integer program and an approximate tree-based genetic algorithm

•Two approaches to partition a node-weighted graph into q balanced connected parts.•The first GA for BCPq (q>=2) and it outperforms existing algorithm when q = 2.•The GA can obtain good near-optimal results after a few individuals were evolved.•The first mixed integer linear program (MILP), an ex...

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