Tham khảo tài liệu 'multi-robot systems from swarms to intelligent automata - parker et al (eds) part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | ISSUES IN MULTI-ROBOT COALITION FORMATION Lovekesh Vig Electrical Engineering and Computer Science Department Vanderbilt University Nashville TN 37212 Julie A. Adams Electrical Engineering and Computer Science Department Vanderbilt University Nashville TN 37212 Abstract Numerous coalition formation algorithms exist in the Distributed Artificial Intelligence literature. Algorithms exist that form agent coalitions in both super additive and non-super additive environments. The employed techniques vary from negotiation-based protocols in Multi-Agent System MAS environments to those based on computation in Distributed Problem Solving DPS environments. Coalition formation behaviors have also been discussed in the game theory literature. Despite the plethora of multi-agent coalition formation literature to the best of our knowledge none of these algorithms have been demonstrated with an actual multiple-robot system. There exists a discrepancy between the multiagent algorithms and their applicability to the multiple-robot domain. This work aims to correct that discrepancy by unearthing issues that arise while attempting to tailor these algorithms to the multiple-robot domain. A well-known multipleagent coalition formation algorithm has been studied in order to identify the necessary modifications to facilitate its application to the multiple-robot domain. Keywords Coalition formation fault-tolerance multi-robot task allocation. 1. Introduction Multi-agent systems often encounter situations that require agents to cooperate and perform a task. In such situations it is often beneficial to assign a group of agents to a task such as when a single agent cannot perform the tasks. This paper investigates allocating tasks to disjoint robot teams referred to as 15 . Parker et al. eds. Multi-Robot Systems. From Swarms to Intelligent Automata. Volume III 15-26. 2005 Springer Printed in the Netherlands. 16 Vig and Adams .
