Multi-robot task allocation approach based on robotic utility function

摘要

Existing methods for task allocation are only focus on optimization algorithms without quantizing the results of task allocation.According to the deficiency of existing methods,this paper presented a new approach for multi-robot task allocation based on the robotic utility function.By using this approach,it defined the robotic utility function,and showed its solvability firstly.Then,it addressed the definition of the optimal task allocation scheme,and proved its existence and uniqueness.Finally,gave an example to illustrate that the proposed approach could efficiently solve the problem of multi-robot task allocation.