Distributed task allocation method based on self-awareness of autonomous robots

Abstract

Multi-robot task allocation problem is an important research field in multi-robot systems. The multi-robot task allocation problem combined with affective computing is an interesting frontier problem. This paper proposes a distributed affective robot pursuit task allocation algorithm based on self-awareness, which combines cognitive intelligence with emotional intelligence to establish self-awareness for affective robots. This paper defines the cognitive mechanism, environmental detection mechanism and self-decision mechanism of affective robots, so that the self-aware affective robots can make decisions autonomously by grasping the information of itself and the environment. The experimental results show better efficiency of this task allocation algorithm at each task scale, and the allocation efficiency is gradually improved as the number of robot increases.