Dynamic multi-robot team reconfiguration using weighted voting games

Prithviraj Dasgupta, Ke Cheng

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


We consider the problem of dynamic reconfiguration of robot teams when they encounter obstacles while navigating in formation, in an initially unknown environment. We have used a framework from coalition game theory called weighted voting games to analyse this problem and proposed two heuristics that can appropriately partition a robot team into sub-teams. We have experimentally verified our technique on teams of e-puck robots of different sizes and with different obstacle geometries, both on the Webots simulator and on physical robots. We have also shown that our technique performs faster and generates considerably fewer partitions than an existing robot coalition formation algorithm.

Original languageEnglish (US)
Pages (from-to)607-628
Number of pages22
JournalJournal of Experimental and Theoretical Artificial Intelligence
Issue number4
StatePublished - Jul 3 2016


  • Coalition game
  • Dynamic team reconfiguration
  • Multi robot system
  • Robot formation

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Artificial Intelligence


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