Improvement and Simulation of Contract-Net-Based Task Allocation for Multi-robot System

  • Hao Lili
  • Yang Huizhen
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 144)


Due to the shortage of ignoring the balance between the mission success rate and the executive ability of the whole system in the common contract net models, a threshold-limited load balance strategy for awarding is proposed. The mathematical model of negotiation process based on improved contract net is established. The conceptual model of the multi-robot system based on improved contract net is implemented by Colored Petri Nets (CPN), and its correctness and dynamic properties such as liveness property, home property and fairness property are validated by using CPN Tools. Simulation results show that this method can effectively improve the performance, and ensure the overall system load balance.


Task Allocation Task Load Liveness Property Fairness Property Executive Ability 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.School of MarineNorthwestern Polytechnical UniversityXi’anChina

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