关键词: 动态任务分配, 市场机制, 出价公式

Abstract:

In order to achieve distributed task allocation dynamically and effectively in multi-robot systems, multi-robot fire-disaster response was presented.The mathematical model of multi-robot cooperative fire-disaster response had been build, and marketbased multirobot task allocation for fire-disaster response was proposed. The distance factor and the fire behavior and time factors are taken into consideration, its bidding expressions accord with request of dynamic task allocation for fire-disaster response. Simulation experiment is performed in the selfdevelop platform, and the simulation results are analyzed. The experimental results show that this strategy can achieve multirobot dynamic task allocation for firedisaster response in different situation.

Key words: distributed task allocation, market-based, bidding expressions