关键词: 多机器人系统, 任务分配, 博弈论, 纳什均衡
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Abstract:

In order to find a reasonable and effective multirobot task allocation algorithm，multirobot system task allocation problem is studied based on the multirobot cooperation firefighting environment and Nash equilibrium in game theory. According to the primary features of task model and Nash equilibrium, a task allocation algorithm based on game theory is presented. The utility function takes into account the distance, fire and burning time factors, robots select their behavior strategies according to this utility function and induce them to extinguish the greater fire with larger publish value to get larger reward value. The value of total task revenue is used to evaluate the advantages and disadvantages of this algorithm. Task revenue function is related to fire density，burning time and number of fire put out by robots,which is consistent with the realistic firefighting task model. Experimental results show the effectiveness of this algorithm. 

Key words: multi-robot system, task allocation, game theory, Nash equilibrium