通过对任务分配问题分析，建立了一套基于市场机制的多机器人任务分配问题形式化描述方法，讨论了多机器人任务分配的分类及评价指标。
This paper gives a market based formal description on the multi-robot task allocation problem, and discusses the task allocation taxonomy and performance indexes.
单一评价方法分类正在老化，成因法、统计法和专家 系统正在互相溶汇，在完成某一类评价任务中而形成统一的评价系统。
The genetic method, statistical model and expert system have been integrated to provide a better performance and for various in the proposed method.
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