On the complexity of cooperative solution concepts
Mathematics of Operations Research
Efficient and inefficient ant coverage methods
Annals of Mathematics and Artificial Intelligence
Building Terrain-Covering Ant Robots: A Feasibility Study
Autonomous Robots
Divide and conquer: false-name manipulations in weighted voting games
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 2
On redundancy, efficiency, and robustness in coverage for multiple robots
Robotics and Autonomous Systems
Multiagent Systems: Algorithmic, Game-Theoretic, and Logical Foundations
Multiagent Systems: Algorithmic, Game-Theoretic, and Logical Foundations
Computational complexity of weighted threshold games
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 1
Weighted voting game based multi-robot team formation for distributed area coverage
Proceedings of the 3rd International Symposium on Practical Cognitive Agents and Robots
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In the multi-robot area coverage problem, a group of mobile robots have to cover an initially unknown environment using a sensor or coverage tool attached to each robot. Multi-robot area coverage is encountered in many applications of multi-robot systems including unmanned search and rescue, aerial reconnaissance, robotic demining, automatic lawn mowing, and inspection of engineering structures. We envisage that multi-robot coverage can be performed efficiently if robots are coordinated to form small teams while covering the environment. In this paper, we use a technique from coalitional game theory called a weighted voting game that allows each robot to dynamically identify other team members and form teams so that the efficiency of the area coverage operation is improved. We propose and evaluate a novel technique of computing the weights of a weighted voting game based on each robot's coverage capability and finding the best minimal winning coalition(BMWC). Also we designed a greedy method and a heuristic method to find BMWC in O(n log n) time and O(n2) time respectively. We tested these two algorithm with our base line method.