Experimental results show that the greater the task-to-machine ratio is, the better the performance of QUICKFIT is than MULTIFIT and Bound F.

For this limitation, we proposed LMRTA_ACO( Large-scale Multi-Robot Task Allocation based on Ant Colony Optimizations) in this paper, which can solve large-scale multi-robot loosely and tightly-coupled task allocation problem based on reversion allocation thought.

Aiming at the problem that robot mission planning hybrid algorithms lack a general architecture,a new interactive bionics-swarm co-evolutionary hybrid algorithm system architecture is presented by using cultural evolutionary double structure idea for reference.