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Coalition Formation Games for Dynamic Multirobot Tasks

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Algorithmic Foundations of Robotics XI

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 107))

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Abstract

This paper studies the problem of forming coalitions for dynamic tasks in multirobot systems . As robots —either individually or in groups—encounter new tasks for which individual or group resources do not suffice, robot coalitions that are collectively capable of meeting these requirements need to be formed. We propose an approach where such tasks are reported to a task coordinator that is responsible for coalition formation. The novelty of this approach is that the process of determining these coalitions is modeled as a coalition formation game where groups of robots are evaluated with respect to resources and cost. As such, the resulting coalitions are ensured so that no group of robots has a viable alternative to staying within their assigned coalition. The newly determined coalitions are then conveyed to the robots which then form the coalitions as instructed. As new tasks are encountered, coalitions merge and split so that the resulting coalitions are capable of doing the newly encountered tasks. Extensive simulations demonstrate the effectiveness of the proposed approach in a wide range of tasks.

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Notes

  1. 1.

    This taxonomy considers three orthogonal dimensions—namely single-task (ST) versus multi-task robots (MT) depending on whether each robot is capable of executing single or multiple tasks at the same time; single-robot tasks (SR) versus multi-robot tasks (MR) depending on whether a task can be completed by a single robot or several robots (a coalition) and instantaneous assignment (IA) versus time-extended assignment (TE) depending of whether only current tasks or future tasks are considered.

  2. 2.

    Superadditivity implies that any two disjoint coalitions, when acting together, can get at least as much as they can when acting separately.

  3. 3.

    This may be one of the robots with the additional task of being a coordinator. As its processing is relatively simple, in case of failure, another robot may easily assume this role.

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Acknowledgments

This work has been supported by TUBITAK Project 111E285 and Bogazici University BAP Project 7222.

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Authors and Affiliations

  1. Electrical and Electronics Engineering Department, Intelligent Systems Laboratory, Bogazici University, Bebek, 34342, Istanbul, Turkey

    Haluk Bayram & H. Iṣıl Bozma

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  1. Haluk Bayram
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Correspondence to Haluk Bayram .

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Editors and Affiliations

  1. Department of Computer Engineering, Bogazici University, Istanbul, Turkey

    H. Levent Akin

  2. Department of Computer Science and Engineering, Texas A&M University, College Station, Texas, USA

    Nancy M. Amato

  3. Department of Computer Science and Engineering, University of Minnesota, Minneapolis, Minnesota, USA

    Volkan Isler

  4. Department of Information and Computing Sciences, Utrecht University, Utrecht, Utrecht, The Netherlands

    A. Frank van der Stappen

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Bayram, H., Bozma, H.I. (2015). Coalition Formation Games for Dynamic Multirobot Tasks. In: Akin, H., Amato, N., Isler, V., van der Stappen, A. (eds) Algorithmic Foundations of Robotics XI. Springer Tracts in Advanced Robotics, vol 107. Springer, Cham. https://doi.org/10.1007/978-3-319-16595-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-16595-0_3

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