Abstract
In this paper, a centralized and hierarchical dynamic and fixed tree task allocation approaches are presented to solve complex task allocation problem in multisensor surveillance systems. Complex tasks are tasks that can be decomposed to a set of subtasks and so can be executed by several possible ways. The complex task allocation problem is not only concerned with how to assign a set of tasks to a set of mobile robots, but also with how to coordinate the behavior of these mobile sensing nodes in order to perform cooperative tasks efficiently. The simulation results show that hierarchical dynamic tree task allocation outperforms all the other techniques especially in complex surveillance operations where large number of robots is used to scan large number of areas.