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The Scientific World Journal
Volume 2014, Article ID 864180, 6 pages
Research Article

Research on Multirobot Pursuit Task Allocation Algorithm Based on Emotional Cooperation Factor

1School of Computer and Information, Hefei University of Technology, Hefei 230009, China
2College of Electronic and Information Engineering, Ningbo University of Technology, Ningbo 315016, China

Received 24 June 2014; Accepted 10 July 2014; Published 23 July 2014

Academic Editor: Yunqiang Yin

Copyright © 2014 Baofu Fang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Multirobot task allocation is a hot issue in the field of robot research. A new emotional model is used with the self-interested robot, which gives a new way to measure self-interested robots’ individual cooperative willingness in the problem of multirobot task allocation. Emotional cooperation factor is introduced into self-interested robot; it is updated based on emotional attenuation and external stimuli. Then a multirobot pursuit task allocation algorithm is proposed, which is based on emotional cooperation factor. Combined with the two-step auction algorithm recruiting team leaders and team collaborators, set up pursuit teams, and finally use certain strategies to complete the pursuit task. In order to verify the effectiveness of this algorithm, some comparing experiments have been done with the instantaneous greedy optimal auction algorithm; the results of experiments show that the total pursuit time and total team revenue can be optimized by using this algorithm.