As heterogeneous systems handling capacity of each node differences, task allocation strategy will seriously affect the quality of the system scalability.
由于异构系统各节点处理能力的差异，任务分配策略的好坏将严重影响系统的可扩展性。
The coordination of robots is the key of effective task for multi-robot system. Kernel problems of multi-robot coordination are task allocation and task administration.
机器人间的协调是多机器人系统高效工作的关键，它取决于如何为机器人分配任务以及机器人如何执行任务。
Secondly, research on collaborative design for the structure of a mature collaborative work collaborative design system to provide theoretical guidance and task allocation.
其次，通过对协作设计的研究，为构造一个成熟的协作设计系统提供协作工作和任务分配的理论指导。
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