Distributed task allocation modeling based on agent topology and protocol for collaborative system

Task allocation plays an important role in collaborative system. This paper focuses on interaction topology and protocol of Multi-agent system (MAS) for task allocation, particularly for UUV collaborative system. The corresponding relationship between UUV formation system and MAS was systematically analyzed and developed from the viewpoint of structural similarity, in which UUV is regarded as the agent member of MAS network to realize the control for task allocation, and then Extended Contract Net Protocol is present based on peer-to-peer topology to complete interactive communication, which mainly focuses on network communication to improve efficiency and quality of task completed. The experiment results demonstrate the proposed distributed task allocation model has better performance on the performance indicators, which can be a good tool to solve the task allocation in the UUV formation system.