Grouping delegation task allocation model for multi-robot collaboration system

A grouping delegation model are presented to deal with multi-robot task allocation problem. In real life, in order to improve the efficiency of collaboration, a working system is usually divided into many collaborative groups. The problem of multi-robot task allocation can also refer to this model. Multiple robots are divided into different groups to accomplish a specific task according to their characteristics. Other robots can join the collaborative groups through collaboration. When a task cannot be completed by the members within the group, the robots outside the group can be asked to finish the task. In this case, delegation task allocation strategy based on the capability list of robots is employed. Delegated tasks usually have the time scope of implementation and should be returned within the stipulated time. To prevent the task delay caused by the uncertainty of the system, the cycle-time constraint is added to this delegation task allocation model, which can effectively improve the robustness and reliability of the system and optimize the performance of the whole system.