Sensor networks have emerged and have been successfully deployed to solve problems as diverse as detecting, controlling, floods the temperature in office buildings and monitoring hospital patients and an effective tool for monitoring large-scale environments. To solve the robot task allocation problem especially in unknown complex environment, a DPSO algorithm which decreases communication cost in Wireless Sensor Network (WSN). The authors’ simulation experiments show that at a small cost in assignment quality, DPSO algorithm significantly extends the lifetime of the static sensor network, rather than PSO, centralized algorithm, and an auction-based algorithm.