Multi-robot decision making using coordination graphs

Jelle R. Kok, Matthijs T. J. Spaan, and Nikos Vlassis. Multi-robot decision making using coordination graphs. In Proceedings of the International Conference on Advanced Robotics (ICAR), pp. 1124–1129, Coimbra, Portugal, June 2003.

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Abstract

Within a group of cooperating agents the decision making of an individual agent depends on the actions of the other agents. In dynamic environments, these dependencies will change rapidly as a result of the continuously changing state. Via a context-specific decomposition of the problem into smaller subproblems, coordination graphs offer scalable solutions to the problem of multiagent decision making. We will apply coordination graphs to the continuous domain by assigning roles to the agents and then coordinating the different roles. Finally, we will demonstrate this method in the RoboCup soccer simulation domain.

BibTeX Entry

@InProceedings{Kok03icar,
  author =       {Jelle R. Kok and Matthijs T. J. Spaan and Nikos
                  Vlassis},
  title =        {Multi-robot decision making using coordination
                  graphs},
  booktitle =    {Proceedings of the International Conference on
                  Advanced Robotics (ICAR)},
  editor =       {A. T. de Almeida and U. Nunes},
  pages =        {1124--1129},
  address =      {Coimbra, Portugal},
  year =         {2003},
  month =        jun,
  postscript =   {2003/Kok03icar.ps.gz},
  pdf =          {2003/Kok03icar.pdf},
  abstract =     {Within a group of cooperating agents the decision
                  making of an individual agent depends on the actions
                  of the other agents. In dynamic environments, these
                  dependencies will change rapidly as a result of the
                  continuously changing state. Via a context-specific
                  decomposition of the problem into smaller
                  subproblems, coordination graphs offer scalable
                  solutions to the problem of multiagent decision
                  making. We will apply coordination graphs to the
                  continuous domain by assigning roles to the agents
                  and then coordinating the different roles. Finally,
                  we will demonstrate this method in the RoboCup
                  soccer simulation domain.}
}

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