A territorial coordination strategy for multi-robot system

This paper mainly focuses on adaptive and decentralized task assignment for multi-robot system. Inspired by swarm intelligence, this paper proposes a new method for multi-robot coordination and cooperation. A virtual pheromone bases method is proposed as the message propagated among robots. Using this method, the robot can reallocate tasks properly according to the changes of environments and the state of other robots. Because of the decentralized control and local communication, the multi-robot system has the character of scalability and robustness. The simulations are used to verify the effectiveness of the proposed method.