{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T07:37:40Z","timestamp":1781595460276,"version":"3.54.5"},"reference-count":52,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2019,10,25]],"date-time":"2019-10-25T00:00:00Z","timestamp":1571961600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,10,25]],"date-time":"2019-10-25T00:00:00Z","timestamp":1571961600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773393"],"award-info":[{"award-number":["61773393"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1813205"],"award-info":[{"award-number":["U1813205"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1007\/s10846-019-01081-3","type":"journal-article","created":{"date-parts":[[2019,10,25]],"date-time":"2019-10-25T21:25:52Z","timestamp":1572038752000},"page":"455-479","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":64,"title":["Multi-Robot Dynamic Task Allocation for Exploration and Destruction"],"prefix":"10.1007","volume":"98","author":[{"given":"Wei","family":"Dai","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huimin","family":"Lu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junhao","family":"Xiao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhiwen","family":"Zeng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhiqiang","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2019,10,25]]},"reference":[{"issue":"5","key":"1081_CR1","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","volume":"57","author":"BD Argall","year":"2009","unstructured":"Argall, B.D., Chernova, S., Veloso, M., Browning, B.: A survey of robot learning from demonstration. Robot. Auton. Syst. 57(5), 469\u2013483 (2009)","journal-title":"Robot. Auton. Syst."},{"issue":"10","key":"1081_CR2","doi-asserted-by":"publisher","first-page":"1259","DOI":"10.1016\/j.jpdc.2006.06.006","volume":"66","author":"G Attiya","year":"2006","unstructured":"Attiya, G., Hamam, Y.: Task allocation for maximizing reliability of distributed systems: a simulated annealing approach. J. Parallel Distrib. Comput. 66(10), 1259\u20131266 (2006)","journal-title":"J. Parallel Distrib. Comput."},{"key":"1081_CR3","first-page":"57","volume":"633","author":"I Bekey","year":"2006","unstructured":"Bekey, I.: Formation flying picosat swarms for forming extremely large apertures. First Workshop on Innovative System Concepts 633, 57\u201364 (2006)","journal-title":"First Workshop on Innovative System Concepts"},{"issue":"3","key":"1081_CR4","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1016\/j.omega.2004.10.004","volume":"34","author":"T Bektas","year":"2006","unstructured":"Bektas, T.: The multiple traveling salesman problem: an overview of formulations and solution procedures. Omega 34(3), 209\u2013219 (2006)","journal-title":"Omega"},{"issue":"5","key":"1081_CR5","doi-asserted-by":"publisher","first-page":"1265","DOI":"10.1016\/S0003-3472(88)80195-7","volume":"36","author":"ID Chase","year":"1988","unstructured":"Chase, I.D., Weissburg, M., Dewitt, T.H.: The vacancy chain process: a new mechanism of resource distribution in animals with application to hermit crabs. Anim. Behav. 36(5), 1265\u20131274 (1988)","journal-title":"Anim. Behav."},{"issue":"6","key":"1081_CR6","doi-asserted-by":"publisher","first-page":"674","DOI":"10.1016\/j.robot.2008.12.001","volume":"57","author":"TS Dahl","year":"2009","unstructured":"Dahl, T.S., Matari\u0107, M., Sukhatme, G.S.: Multi-robot task allocation through vacancy chain scheduling. Robot. Auton. Syst. 57(6), 674\u2013687 (2009)","journal-title":"Robot. Auton. Syst."},{"key":"1081_CR7","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-32834-3_14","volume-title":"A Machine Learning Method for Improving Task Allocation in Distributed Multi-Robot Transportation","author":"TS Dahl","year":"2006","unstructured":"Dahl, T.S., Matari\u0107, M.J., Sukhatme, G.S.: A Machine Learning Method for Improving Task Allocation in Distributed Multi-Robot Transportation. Springer, Berlin (2006)"},{"issue":"3","key":"1081_CR8","doi-asserted-by":"publisher","first-page":"841","DOI":"10.1007\/s10846-018-0783-y","volume":"94","author":"W Dai","year":"2019","unstructured":"Dai, W., Lu, H., Xiao, J., Zheng, Z.: Task allocation without communication based on incomplete information game theory for multi-robot systems. J. Intell. Robot. Syst. 94(3), 841\u2013856 (2019)","journal-title":"J. Intell. Robot. Syst."},{"issue":"4","key":"1081_CR9","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1163\/156855397X00344","volume":"11","author":"EL Parker","year":"1997","unstructured":"Parker, E.L.: L-alliance: Task-oriented multi-robot learning in behavior-based systems. Adv. Robot. 11(4), 305\u2013322 (1997)","journal-title":"Adv. Robot."},{"key":"1081_CR10","unstructured":"Ferber, J.: Multi-Agent Systems: an introduction to distributed artificial intelligence. Addison-wesley longman publishing co. Inc (1999)"},{"key":"1081_CR11","unstructured":"Gage, A.: Multi-robot task allocation using affect. Dissertation Abstracts International, volume: 65-12, section: B page: 6470.;Major professor: Robin (2004)"},{"issue":"5","key":"1081_CR12","doi-asserted-by":"publisher","first-page":"758","DOI":"10.1109\/TRA.2002.803462","volume":"18","author":"BP Gerkey","year":"2002","unstructured":"Gerkey, B.P., Matari, M.J.: Sold!: auction methods for multirobot coordination. IEEE Trans. robot. autom 18(5), 758\u2013768 (2002)","journal-title":"IEEE Trans. robot. autom"},{"key":"1081_CR13","unstructured":"Gerkey, B.P., Matari\u0107, M. J.: A systems. In: International Journal of Robotics Research, p. 2004 (2004)"},{"key":"1081_CR14","doi-asserted-by":"crossref","unstructured":"Horst, J.V.D., Noble, J.: Distributed and centralized task allocation: when and where to use them. In: IEEE International Conference on Self-Adaptive & Self-Organizing Systems Workshop, pp. 1\u20138 (2010)","DOI":"10.1109\/SASOW.2010.8"},{"key":"1081_CR15","unstructured":"Horst, V.D.: Johannes: Market-based Task Allocation in Distributed Satellite Systems. Ph.D. thesis, University of Southampton (2012)"},{"issue":"2","key":"1081_CR16","doi-asserted-by":"publisher","first-page":"195","DOI":"10.1016\/0004-3702(94)00020-2","volume":"75","author":"NR Jennings","year":"1995","unstructured":"Jennings, N.R.: Controlling cooperative problem solving in industrial multi-agent systems using joint intentions. Artif. Intell. 75(2), 195\u2013240 (1995)","journal-title":"Artif. Intell."},{"key":"1081_CR17","unstructured":"Jiang, Y., Hu, J., Lin, D.: Decision making of networked multiagent systems for interaction structures. IEEE Press (2011)"},{"key":"1081_CR18","doi-asserted-by":"crossref","unstructured":"Jiang, Y., Zhou, Y., Wang, W.: Task allocation for undependable multiagent systems in social networks. IEEE press (2013)","DOI":"10.1109\/TPDS.2012.249"},{"key":"1081_CR19","unstructured":"Kalra, N., Ferguson, D., Stentz, A.: Hoplites: a market-based framework for planned tight coordination in multirobot teams. In: IEEE International Conference on Robotics and Automation, pp. 1170\u20131177 (2005)"},{"key":"1081_CR20","unstructured":"Kapetanakis, S., Kudenko, D.: Improving on the reinforcement learning of coordination in cooperative multi-agent systems. Aaai\/iaai, pp. 326\u2013331 (2002)"},{"key":"1081_CR21","unstructured":"Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: Ieee\/Rsj International Conference on Intelligent Robots and Systems, Vol.3. pp. 2149\u20132154 (2004)"},{"key":"1081_CR22","doi-asserted-by":"crossref","unstructured":"Koenig, S., Keskinocak, P., Tovey, C.: Progress on agent coordination with cooperative auctions. In: Twenty-Fourth AAAI Conference on Artificial Intelligence, pp. 1713\u20131717 (2010)","DOI":"10.1609\/aaai.v24i1.7764"},{"key":"1081_CR23","unstructured":"Koenig, S., Tovey, C., Lagoudakis, M., Markakis, V., Kempe, D., Keskinocak, P., Kleywegt, A., Meyerson, A., Jain, S.: The power of sequential single-item auctions for agent coordination. In: National Conference on Artificial Intelligence, pp. 1625\u20131629 (2006)"},{"key":"1081_CR24","unstructured":"Kovac, K., Zivkovic, I., Basic, B.D.: Simulation of multi-robot reinforcement learning for box-pushing problem. In: Electrotechnical Conference, 2004. Melecon 2004. Proceedings of the IEEE Mediterranean, Vol. 2. pp. 603\u2013606 (2004)"},{"key":"1081_CR25","unstructured":"Lagoudakis, M.G., Berhault, M., Koenig, S., Keskinocak, P.: Simple auctions with performance guarantees for multi-robot task allocation. In: Ieee\/Rsj International Conference on Intelligent Robots and Systems, Vol. 1. pp. 698\u2013705 (2004)"},{"key":"1081_CR26","doi-asserted-by":"crossref","unstructured":"Lagoudakis, M.G., Markakis, E., Kempe, D., Keskinocak, P., Kleywegt, A.J., Koenig, S., Tovey, C.A., Meyerson, A., Jain, S.: Auction-based multi-robot routing. In: Robotics: Science & Systems, pp. 343\u2013350 (2005)","DOI":"10.15607\/RSS.2005.I.045"},{"key":"1081_CR27","unstructured":"Lowe, R., Wu, Y., Tamar, A., Harb, J., Abbeel, P.: Mordatch I.: Multi-agent actor-critic for mixed cooperative-competitive environments (2017)"},{"key":"1081_CR28","unstructured":"Mnih, V., Kavukcuoglu, K., Silver, D., Graves, A., Antonoglou, I., Wierstra, D., Riedmiller, M.: Playing atari with deep reinforcement learning. Computer Science (2013)"},{"issue":"7540","key":"1081_CR29","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1038\/nature14236","volume":"518","author":"V Mnih","year":"2015","unstructured":"Mnih, V., Kavukcuoglu, K., Silver, D., Rusu, A.A., Veness, J., Bellemare, M.G., Graves, A., Riedmiller, M., Fidjeland, A.K., Ostrovski, G.: Human-level control through deep reinforcement learning. Nature 518(7540), 529 (2015)","journal-title":"Nature"},{"key":"1081_CR30","unstructured":"Mosteo, A.: A survey of multi-robot task allocation. Mosteo. Com, pp. 1\u201327 (2010)"},{"issue":"1","key":"1081_CR31","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1007\/s10846-017-0493-x","volume":"87","author":"G Oh","year":"2017","unstructured":"Oh, G., Kim, Y., Ahn, J., Choi, H.L.: Market-based task assignment for cooperative timing missions in dynamic environments. J. Intell. Robot. Syst. 87(1), 97\u2013123 (2017)","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"1081_CR32","doi-asserted-by":"publisher","first-page":"220","DOI":"10.1109\/70.681242","volume":"14","author":"LE Parker","year":"1995","unstructured":"Parker, L.E.: Alliance: an architecture for fault tolerant multi-robot cooperation. IEEE Trans Rob Autom 14 (2), 220\u2013240 (1995)","journal-title":"IEEE Trans Rob Autom"},{"issue":"3","key":"1081_CR33","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1023\/A:1015256330750","volume":"12","author":"LE Parker","year":"2002","unstructured":"Parker, L.E.: Distributed algorithms for multi-robot observation of multiple moving targets. Auton. Robot. 12(3), 231\u2013255 (2002)","journal-title":"Auton. Robot."},{"key":"1081_CR34","unstructured":"Quigley, M.: Ros : an open-source robot operating system. In: Proc. IEEE ICRA Workshop on Open Source Robotics (2009)"},{"key":"1081_CR35","unstructured":"Schoenig, A., Pagnucco, M.: Evaluating sequential single-item auctions for dynamic task allocation. In: Ai 2010: Advances in Artificial Intelligence - Australasian Joint Conference, Adelaide, Australia, December 7-10, 2010. Proceedings, pp. 506\u2013515 (2010)"},{"key":"1081_CR36","doi-asserted-by":"crossref","unstructured":"Smith, R.G.: The contract net protocol: High-Level communication and control in a distributed problem solver. IEEE Computer Society (1980)","DOI":"10.1109\/TC.1980.1675516"},{"issue":"4","key":"1081_CR37","doi-asserted-by":"publisher","first-page":"e0172,395","DOI":"10.1371\/journal.pone.0172395","volume":"12","author":"A Tampuu","year":"2017","unstructured":"Tampuu, A., Matiisen, T., Kodelja, D., Kuzovkin, I., Korjus, K., Aru, J., Aru, J., Vicente, R.: Multiagent cooperation and competition with deep reinforcement learning. Plos One 12(4), e0172,395 (2017)","journal-title":"Plos One"},{"key":"1081_CR38","doi-asserted-by":"crossref","unstructured":"Taylor, M.E., Stone, P.: Behavior transfer for value-function-based reinforcement learning. In: International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 53\u201359 (2005)","DOI":"10.1145\/1082473.1082482"},{"key":"1081_CR39","unstructured":"Tegelberg, A., Kopp, S.: Agent coordination with regret clearing. In: National Conference on Artificial Intelligence, pp. 101\u2013107 (2008)"},{"key":"1081_CR40","doi-asserted-by":"publisher","DOI":"10.1007\/1-4020-3389-3_1","volume-title":"The Generation of Bidding rules for Auction-Based Robot Coordination","author":"C Tovey","year":"2005","unstructured":"Tovey, C., Lagoudakis, M.G., Jain, S., Koenig, S.: The Generation of Bidding rules for Auction-Based Robot Coordination. Springer, Netherlands (2005)"},{"key":"1081_CR41","doi-asserted-by":"crossref","unstructured":"Vincent, P., Rubin, I.: A framework and analysis for cooperative search using Uav swarms. In: ACM Symposium on Applied Computing, pp. 79\u201386 (2004)","DOI":"10.1145\/967900.967919"},{"key":"1081_CR42","doi-asserted-by":"crossref","unstructured":"Volle, K., Rogers, J.D., Brink, K.: Scalable cooperative control algorithms for the weapon target assignment problem. In: AIAA Guidance, Navigation, and Control Conference (2015)","DOI":"10.2514\/6.2016-2106"},{"issue":"2","key":"1081_CR43","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10489-016-0771-5","volume":"45","author":"C Wei","year":"2016","unstructured":"Wei, C., Hindriks, K.V., Jonker, C.M.: Dynamic task allocation for multi-robot search and retrieval tasks. Appl. Intell. 45(2), 1\u201319 (2016)","journal-title":"Appl. Intell."},{"key":"1081_CR44","doi-asserted-by":"crossref","unstructured":"Werger, B.B., Mataric, M.J.: Broadcast of local eligibility: behavior-based control for strongly cooperative robot teams. In: International Conference on Autonomous Agents, pp. 21\u201322 (2000)","DOI":"10.1145\/336595.336621"},{"issue":"1","key":"1081_CR45","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1086\/259604","volume":"78","author":"HC White","year":"1970","unstructured":"White, H.C.: Matching, vacancies, and mobility. J. Polit. Econ. 78(1), 97\u2013105 (1970)","journal-title":"J. Polit. Econ."},{"issue":"5","key":"1081_CR46","doi-asserted-by":"publisher","first-page":"1042","DOI":"10.1109\/TPDS.2012.213","volume":"24","author":"D Ye","year":"2013","unstructured":"Ye, D., Zhang, M., Sutanto, D.: Self-adaptation-based dynamic coalition formation in a distributed agent network: a mechanism and a brief survey. IEEE Trans. Parallel Distrib. Syst. 24(5), 1042\u20131051 (2013)","journal-title":"IEEE Trans. Parallel Distrib. Syst."},{"issue":"C","key":"1081_CR47","doi-asserted-by":"publisher","first-page":"302","DOI":"10.1016\/j.engappai.2016.01.025","volume":"50","author":"O Zedadra","year":"2016","unstructured":"Zedadra, O., Seridi, H., Jouandeau, N., Fortino, G.: A cooperative switching algorithm for multi-agent foraging. Eng. Appl. Artif. Intel. 50(C), 302\u2013319 (2016)","journal-title":"Eng. Appl. Artif. Intel."},{"issue":"4","key":"1081_CR48","doi-asserted-by":"publisher","first-page":"902","DOI":"10.1109\/TCYB.2015.2418052","volume":"46","author":"W Zhao","year":"2016","unstructured":"Zhao, W., Meng, Q., Chung, P.W.: A heuristic distributed task allocation method for multivehicle multitask problems and its application to search and rescue scenario. IEEE Transactions on Cybernetics 46(4), 902\u2013915 (2016)","journal-title":"IEEE Transactions on Cybernetics"},{"key":"1081_CR49","unstructured":"Zheng, X., Koenig, S.: K-Swaps: cooperative negotiation for solving task-allocation problems. In: International Jont Conference on Artifical Intelligence, pp. 373\u2013378 (2009)"},{"key":"1081_CR50","first-page":"167","volume":"24","author":"R Zlot","year":"2003","unstructured":"Zlot, R., Stentz, A.: . Market-based multirobot coordination using task abstraction 24, 167\u2013177 (2003)","journal-title":"Market-based multirobot coordination using task abstraction"},{"key":"1081_CR51","doi-asserted-by":"crossref","unstructured":"Zlot, R., Stentz, A., Dias, M.B., Thayer, S.: Multi-robot exploration controlled by a market economy. In: IEEE International Conference on in Robotics & Automation, pp. 3016\u20133023 (2002)","DOI":"10.21236\/ADA529530"},{"issue":"9","key":"1081_CR52","doi-asserted-by":"publisher","first-page":"899","DOI":"10.1109\/71.954620","volume":"12","author":"AY Zomaya","year":"2001","unstructured":"Zomaya, A.Y., Teh, Y.H.: Observations on using genetic algorithms for dynamic load-balancing. IEEE Trans. Parallel Distrib. Syst. 12(9), 899\u2013911 (2001)","journal-title":"IEEE Trans. Parallel Distrib. Syst."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01081-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01081-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01081-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,10,2]],"date-time":"2022-10-02T17:45:34Z","timestamp":1664732734000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01081-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,25]]},"references-count":52,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["1081"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01081-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,10,25]]},"assertion":[{"value":"22 December 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 August 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 October 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}