Multi-agent coalition formation for distributed area coverage

Ke Cheng, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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(n 2) time respectively. We tested these two algorithm with our base line method.

Original languageEnglish (US)
Title of host publicationCollaborative Agents - Research and Development
Subtitle of host publicationInternational Workshops CARE@IAT10 2010, Revised Selected Papers
Pages1-13
Number of pages13
DOIs
StatePublished - 2011
Event2nd International Workshop on Collaborative Agents - Research and Development, CARE 2010, Held in Conjunction with the 2010 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT10 - Toronto, ON, Canada
Duration: Aug 31 2010Aug 31 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6066 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference2nd International Workshop on Collaborative Agents - Research and Development, CARE 2010, Held in Conjunction with the 2010 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT10
Country/TerritoryCanada
CityToronto, ON
Period8/31/108/31/10

Keywords

  • Area Coverage
  • Weighted Voting Games
  • Winning Coalitions

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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