Fig.1

Communication model

Fig.2

Framework of proposed distributed hierarchical task allocation technology

Fig.3

Computational time for clustering and allocation phases of hierarchical algorithm

Fig.4

Comparison of computational time between hierarchical allocation and non-hierarchical allocation algorithms

Fig.5

Task demand completion rate and suboptimality of proposed algorithm

Fig.6

Comparison of proposed algorithm with distributed auction algorithm

Fig.7

Comparison of communication overhead between hierarchical allocation and non-hierarchical allocation algorithms

Fig.8

Convergence of clustering algorithm under different asynchronous communication conditions

Fig.9

Comparison of allocation and trajectory planning results from different cost calculation methods