Self-Organizing Task Allocation of Multi-robot

This existing multi-robot task allocation mechanisms treat tasks as simple, indivisible entities. Also in many applications, the dynamicity and complexity of the environment are not considered. In order to allocate the robots adaptively and flexibility according to the complex task and environment, this paper presents a multi-robot coordination approaches based on virtual pheromone which is inspired by the ant colony foraging behavior in the background of exploring unknown environments by multi-robot system. Numerical and experiment results show that this approach is helpful and reliable, and it is proved that the robots collaboration degree was obviously improved. In addition, the exploration efficiency was greatly improved.