Game theory based task allocation algorithm for multi-robot systems

Considering to dependences between robots,this paper introduced main idea of game theory to depict multi-robot system task allocation which afforded a new mathematic description way for solving task allocation.To the relationships between strategies of robots,it analyzed multi-robot system task allocation based on game theory,and proposed a game theory based task allocation algorithm for multi-robot systems(GT-MRTA).Simulation experiment shows that GT-MRTA has low complexity,and needs less computation.It has good robustness for communication failure and can help to getting task allocation schemes with high quality.