Abstract
Task allocation algorithm has great influence on the efficiency multi-agent task system. The performance of the existing allocation algorithms will decline with the increasing of task complexity. So a task allocation framework is presented and a semi-online multi-agent task allocation algorithm(SOAL) based on dependences of sub-tasks is proposed, the relationship of dependences among sub-tasks is the partial knowledge for SOAL. In contrast to the existing approaches, the performance of SOAL is more close to the optimal offline algorithm. The competitive analysis results and the tests of time performance demonstrate the advantage of SOAL
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