Abstract

In this paper, a hierarchical task allocation is proposed based on the capabilities and task requirements specific to dynamic changes of tasks and agents in a dynamic environment. Appropriate tasks are allocated to agents by using the global allocation method. When the environment changes, the inadaptation issues among tasks and agents are solved through local adjustment, which makes each agent be able to choose desired task to be performed according to local information, so the robustness of the allocation algorithm is improved. Simulation results show that the method is feasible and effective to solve the task allocation problem in a dynamic environment.

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