Intelligent Robot System Task Allocation And Collaborative Research

With the development of robot technology, people are putting more emphasis on the research of MARS. The issue of tasks allocation and cooperation among robot team is the most popular issue in the research of Human Intelligence Field.This thesis will firstly introduce one way of cooperation among multi-agents by describing the biological principle of ant-group arithmetic; Secondly, make the TSP issue as the target of research and explain how the multi-agents cooperate with each other to resolve problems under the ant-group arithmetic; Thirdly, make the logistics freight problem_as_the target of research and take use of the genetic arithmetic and ant-group arithmetic to discuss the issue of how the multi-robots divide the tasks and cooperate with each other in the static circumstances; Fourthly, discuss the four common principles of how the multi-robots allocate the tasks and cooperate with each other in the dynamic and unconfirmed circumstances and to which field that eaeh principle applies. At last, the thesis will introduce two principles of tasks allocation among multi-robots in detailed way: one is based on the means of auetion ,the other is based on the analysis of matrix.