Coalition formation games for dynamic multirobot tasks

Haluk Bayram, H. Isıl Bozma

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

6 Scopus citations


This paper studies the problem of forming coalitions for dynamic tasks in multirobot systems. As robots—either individually or in groups—encounter new tasks for which individual or group resources do not suffice, robot coalitions that are collectively capable of meeting these requirements need to be formed. We propose an approach where such tasks are reported to a task coordinator that is responsible for coalition formation. The novelty of this approach is that the process of determining these coalitions is modeled as a coalition formation game where groups of robots are evaluated with respect to resources and cost. As such, the resulting coalitions are ensured so that no group of robots has a viable alternative to staying within their assigned coalition. The newly determined coalitions are then conveyed to the robots which then form the coalitions as instructed. As new tasks are encountered, coalitions merge and split so that the resulting coalitions are capable of doing the newly encountered tasks. Extensive simulations demonstrate the effectiveness of the proposed approach in a wide range of tasks.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
EditorsA. Frank van der Stappen, H. Levent Akin, Nancy M. Amato, Volkan Isler
PublisherSpringer Verlag
Number of pages18
ISBN (Print)9783319165943
StatePublished - 2015
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: Aug 3 2014Aug 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014

Bibliographical note

Funding Information:
This work has been supported by TUBITAK Project 111E285 and Bogazici University BAP Project 7222.

Publisher Copyright:
© Springer International Publishing Switzerland 2015.


  • Cooperative robots
  • Dynamic tasks
  • Game theory
  • Multirobot systems


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