Task allocation based on market and limited-task tree for multirobot system

Current application-driven demands are bringing us closer to the multirobot system which is on a larger scale and more complex However, most of the existing methods of task allocation for multirobot system ignore the inherent characteristics that complex tasks might have, taking the tasks as some can not be decomposed any more. A kind of complex tasks are depicted by limited task tree in this paper, and a complex task allocation algorithm based on market and limited task tree for multirobot system is presented. At the expense of increasing the solution cost a little bit, computation time is decreased greatly by restricting the decomposition. Experiment results show that this algorithm can achieve loosely-coupled task allocation quickly in multirobot systems in a wholly distributed way.