Task Allocation Without Communication Based on Incomplete Information Game Theory for Multi-robot Systems

In the task allocation of multi-robot system, the communication is an important condition to ensure global consistency. Unfortunately, with the popularity of WLAN, the congestion and interference among the bands are particularly severe, making traditional task allocation methods which rely on communication can not work. In this paper, the task allocation without communication is considered to be an incomplete information game, where game theory is employed to realize the task allocation and cooperation of soccer robots. Firstly, the joint probability distribution of the robot type is established according to the distance information, which can be employed to solve the incomplete information static game. Then the ball velocity information is added to modify the joint probability distribution and the incomplete information dynamic game can be solved in the same way. The experimental results show that the success rate of task allocation without communication can be improved effectively using the proposed method.