Abstract: Aiming at the cooperation problem among multiple robots in RoboCup Standard Platform League (SPL), a task allocation algorithm based on the improved contract network protocol is proposed.  Firstly, a hierarchical structure decomposition model and a single robot behavior task tree model are established for the RoboCup multi-robot system, and the analytic hierarchy process (AHP) is used to determine the weight of each task. Secondly, a task allocation strategy based on the improved contract network agreement is proposed. Compared with the traditional contract network agreement, the improved contract network agreement introduces the bid announcement mechanism into the task allocation model. At the same time, the priority bidding strategy is proposed and the contract network protocol process and evaluation function are improved and expanded. 

Key words: task allocation, contract network protocol, task decomposition, RoboCup