Anonymous hedonic game for task allocation in a large-scale multiple agent system

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dc.contributor.authorJang, Inmo
dc.contributor.authorShin, Hyo-Sang
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2018-09-03T14:46:49Z
dc.date.available2018-09-03T14:46:49Z
dc.date.issued2018-08-20
dc.description.abstractThis paper proposes a novel game-theoretical autonomous decision-making framework to address a task allocation problem for a swarm of multiple agents. We consider cooperation of self-interested agents, and show that our proposed decentralized algorithm guarantees convergence of agents with social inhibition to a Nash stable partition (i.e., social agreement) within polynomial time. The algorithm is simple and executable based on local interactions with neighbor agents under a strongly connected communication network and even in asynchronous environments. We analytically present a mathematical formulation for computing the lower bound of suboptimality of the outcome, and additionally show that at least 50% of suboptimality can be guaranteed if social utilities are nondecreasing functions with respect to the number of coworking agents. The results of numerical experiments confirm that the proposed framework is scalable, fast adaptable against dynamical environments, and robust even in a realistic situation.en_UK
dc.identifier.citationInmo Jang, Hyo-Sang Shin and Antonios Tsourdos. Anonymous hedonic game for task allocation in a large-scale multiple agent system. IEEE Transactions on Robotics, Vol.34, No.6, 2018, pp. 1534-1548.en_UK
dc.identifier.cris21365447
dc.identifier.issn1552-3098
dc.identifier.urihttps://doi.org/10.1109/TRO.2018.2858292
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13453
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectCoalition formationen_UK
dc.subjectdistributed robot systemsen_UK
dc.subjectmulti-robot systemsen_UK
dc.subjectnetworked robotsen_UK
dc.subjecttask allocationen_UK
dc.titleAnonymous hedonic game for task allocation in a large-scale multiple agent systemen_UK
dc.typeArticleen_UK

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