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A negotiation mechanism suitable for the decentralized task allocation is also presented. Then, a game theory-based negotiation strategy is proposed to achieve the Pareto-optimal solution for the task reallocation. Extensive simulation results are provided to show that the task allocation solutions after the negotiation are better than the initial contract net-based allocation. In addition, experimental results are further presented to show the effectiveness of the approach presented.<\/jats:p>","DOI":"10.1017\/s0263574713000192","type":"journal-article","created":{"date-parts":[[2013,3,7]],"date-time":"2013-03-07T14:06:42Z","timestamp":1362665202000},"page":"923-934","source":"Crossref","is-referenced-by-count":56,"title":["Game theory-based negotiation for multiple robots task allocation"],"prefix":"10.1017","volume":"31","author":[{"given":"Rongxin","family":"Cui","sequence":"first","affiliation":[]},{"given":"Ji","family":"Guo","sequence":"additional","affiliation":[]},{"given":"Bo","family":"Gao","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,3,7]]},"reference":[{"key":"S0263574713000192_ref43","doi-asserted-by":"crossref","first-page":"170","DOI":"10.1109\/ICCIS.2011.6070322","volume-title":"IEEE 5th International Conference on Cybernetics and Intelligent Systems (CIS)","author":"Guo","year":"2011"},{"key":"S0263574713000192_ref41","volume-title":"Introduction to Algorithms","author":"Cormen","year":"2001"},{"key":"S0263574713000192_ref39","volume-title":"Network Flows: Theory, Algorithms, and Applications","author":"Ahuja","year":"1993"},{"key":"S0263574713000192_ref38","first-page":"68","volume-title":"AAAI Spring Symposium Series: Satisficing Models","author":"Sandholm","year":"1998"},{"key":"S0263574713000192_ref34","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623496307510"},{"key":"S0263574713000192_ref33","volume-title":"Multiobjective Optimisation and Control","author":"Liu","year":"2004"},{"key":"S0263574713000192_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/21.135688"},{"key":"S0263574713000192_ref30","volume-title":"SIAM Series in Classics in Applied Mathematics","author":"Basar","year":"1999"},{"key":"S0263574713000192_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/21.135678"},{"key":"S0263574713000192_ref28","doi-asserted-by":"publisher","DOI":"10.1142\/9789814261371_0004"},{"key":"S0263574713000192_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/3540608052_73"},{"key":"S0263574713000192_ref26","first-page":"121","volume-title":"Multiagent Systems: A Modern Approach to Distributed Artificial Intelligence","author":"Durfee","year":"1999"},{"key":"S0263574713000192_ref24","first-page":"1234","volume-title":"IEEE International Conference on Robotics and Automation","author":"Botelho","year":"1999"},{"key":"S0263574713000192_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/B978-1-55860-092-8.50011-3"},{"key":"S0263574713000192_ref22","volume-title":"Games and Information: An Introduction to Game Theory","author":"Rasmusen","year":"2007"},{"key":"S0263574713000192_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2022423"},{"key":"S0263574713000192_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.876939"},{"key":"S0263574713000192_ref17","doi-asserted-by":"crossref","first-page":"850","DOI":"10.1145\/1160633.1160786","volume-title":"Proceedings of the 5th International Joint Conference on Autonomous Agents and Multiagent Systems","author":"Abdallah","year":"2006"},{"key":"S0263574713000192_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-32274-0_17"},{"key":"S0263574713000192_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2006.12.013"},{"key":"S0263574713000192_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2089653"},{"key":"S0263574713000192_ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045564"},{"key":"S0263574713000192_ref9","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022291921717"},{"key":"S0263574713000192_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.08.012"},{"key":"S0263574713000192_ref37","first-page":"256","volume-title":"Proceedings of the National Conference on Artificial Intelligence","author":"Sandholm","year":"1993"},{"key":"S0263574713000192_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/21.135678"},{"key":"S0263574713000192_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2005.09.049"},{"key":"S0263574713000192_ref40","volume-title":"Rules of Encounter","author":"Rosenschein","year":"1994"},{"key":"S0263574713000192_ref42","doi-asserted-by":"publisher","DOI":"10.1287\/opre.43.4.649"},{"key":"S0263574713000192_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2011.03.005"},{"key":"S0263574713000192_ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-010-9123-8"},{"key":"S0263574713000192_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-010-9536-2"},{"key":"S0263574713000192_ref2","doi-asserted-by":"crossref","first-page":"1168","DOI":"10.1109\/TRO.2001.855992","article-title":"COBOS: Cooperative backoff adaptive scheme for multirobot task allocation","volume":"21","author":"Fua","year":"2005","journal-title":"IEEE Trans. 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