Abstract
Multi-robot cooperation is one of hotspots in research on robotics and artificial intelligence currently. To solve the problem of task allocation in multi-robot system, a pyramid-like hybrid control architecture based on centralized control and distributed control is applied to accomplish multi-robot cooperation in task level. When robots received the information provided by sensors, the task was distributed according to Contract Net Protocol. Finally multi-robot cooperation was accomplished. The simulation of multi-robot tracking and formation experiments in player/stage platform showed that the algorithm is effective.
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