Method for coordinating cooperative robots

A method for avoiding task conflict among a plurality of cooperative robots, comprising:

• detecting an abnormal event through a sensor;
• broadcasting the abnormal event to the cooperative robots;
• increasing the weight of the abnormal event and issuing a broadcast message of the weighted abnormal event through a first robot when the first robot determines that a priority of a task being currently executed by the first robot is equal to a priority of the abnormal event;
• continuing to execute the task being currently executed through the first robot and receiving the weighted broadcast message of the abnormal event through a second robot;
• determining whether the priority of the weighted abnormal event is higher than a priority of a task being currently executed by the second robot through the second robot, wherein if the priority of the weighted abnormal event is higher than the prioirity of the task being currently executed by the second robot, the second robot goes to where the abnormal event takes place and then process the abnormal event;
• otherwise, if the priority of the task being currently executed by the second robot is higher than the priority of the weighted abnormal event, the second robot increases the weight of the weighted abnormal event and issues a broadcast message of the twice-weighted abnormal event;
• and repeating foregoing steps until a particular robot goes to process the abnormal event;
• wherein the priority of the abnormal event is calculated according to a dot product of an attribute vector of the abnormal event and a function attribute vector of each robot, the weight of the abnormal event, and a distance between each robot and where the abnormal event takes place, and the priority of the task being currently executed is calculated according to a dot product of an attribute vector of the task being currently executed and the function attribute vector of each robot, the weight of the task, and a distance between each robot and where the task is currently executed.