A multi-robot cooperative system considering both task allocation and execution issues

Low-level issues related to task execution are often oversimplified or ignored in research works of multi-robot cooperation. In this paper, a multi-robot cooperative system considering both high-level task allocation issues and low-level task execution issues is proposed. Simulation results show that both task allocation and execution algorithms will affect the system performance, which indicates that it is more reasonable to consider them as an integrated problem rather than independent issues. Practical experiments further verify the applicability of the cooperative system proposed in this paper.