Abstract
In response to characters of multi-robot systems in RoboCup soccer game and dependence between decisions of robots, multi-robot systems task allocation was analyzed by means of game theory in this paper. Formalized description based on game theory for multi-robot system task allocation was offered, and a game theory based task allocation algorithm for multi-robot systems (GT-MRTA) was proposed. Experiments show that GT-MRTA has low complexity, and less time-consumption, can obtain comparative schemes with centralized method, and shows good robustness to communication failure and robot failure.
Published Version
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