Methods for task allocation via agent coalition formation
Artificial Intelligence
Artificial Intelligence - Special issue on Robocop: the first step
Distributed Coordination in Heterogeneous Multi-Robot Systems
Autonomous Robots
Anytime optimal coalition structure generation
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Multi-robot coalition formation
IEEE Transactions on Robotics
Multirobot systems: a classification focused on coordination
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Non-additive multi-objective robot coalition formation
Expert Systems with Applications: An International Journal
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Cooperative control is a key issue for multirobot systems in many practical applications. In this paper, we address the problem of coordinating a set of mobile robots in the RoboCup soccer middle-size league. We show how the coordination problem that we face can be cast as a specific coalition formation problem, and we propose a distributed algorithm to efficiently solve it. Our approach is based on the distributed computation of a measure of satisfaction (called Agent Satisfaction) that each agent computes for each task. We detail how each agent computes the Agent Satisfaction by acquiring sensor perceptions through an omnidirectional vision system, extracting aggregated information from the acquired perception, and integrating such information with that communicated by the teammates. We empirically validate our approach in a simulated scenario and within RoboCup competitions. The experiments in the simulated scenario allow us to analyse the behaviour of the algorithm in different situations, while the use of the algorithm in real competitions validates the applicability of our approach to robotic platforms involved in a dynamic and complex scenario.