Multi-welfare-robot Cooperation Framework For Multi-task Assignment In Healthcare Facilities Based On Multi-agent System

The aging of the population is becoming more and more serious in world,the social and economic problems brought by the aging of the population are more and more obvious.One of the main problems is the demand of the healthcare is increasing sharply;in the future,more and more old people will spend their old age in healthcare facilities,the development of civil service robot technology,making the service for the elderly providing by the robot in healthcare facilities become possible.There will need a heterogenous service robot team to guarantee the service quality.This leading to the task allocation problem based on the heterogenous service robot team and the cooperation and scheduling problems for robot team.In order to solve these problems,multiwelfare-robot cooperation framework for multi-task assignment in healthcare facilities based on multi-agent system is proposed in the paper.The main works of paper as following:(1)Thinking about the actual problem in healthcare facilities,the elderly service task allocation and heterogenous service robots coordination based on multi-agent system.(2)Task allocation based on market mechanism contract network protocol,a satisfaction model is introduced to calculate bidding value to consider the satisfaction of the elderly fully in the paper.(3)In order to solve deadlock that existing in distributed system this paper introduces the deadlock detection algorithm and unlocking method based on graph theory,which makes the result of task allocation is deadlock free.