一种基于平衡原则的多机器人自组织协作方法

本文通过对2个相互之间有资源依赖关系的子任务运行特征分析，发现了子任务进度关系对全局任务进度所带来的影响，由此提出了一种保持机器人个体利益之间相等的多机器人自组织原则：平衡原则，并给出了基于平衡原则的多机器人自组织协作算法。该算法帮助多机器人系统有效地完成了自组织任务分配，使系统取得了良好的运行效果。

Balance principle based self-organizing collaboration method for multi-robot system

By analyzing the running characteristics of two subtasks that have resource dependency on each other, this paper finds the impact of the relation between subtask progresses on the whole task progress, and then puts forward a principle of self-organizing, called balance principle, which keeps equality between robot individual profits. Based on this principle a self-organizing collaboration algorithm is proposed, which helps multi-robot system effectively implement the self-organized subtask allocation. Simulation demonstrates the validity of this algorithm for self-organizing task allocation in multi-robot system.