Pairwise vs coalition game networks for multi-robot systems

Halûk Bayram, H. Işil Bozma

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

2 Scopus citations


This paper considers the bidirectional interaction between states and communication network in a multi-robot system. It proposes two alternative games that are extremes of each other for network formation. In pairwise games, each robot decides to establish or break off a link based on the improvement this offers to it individually. In turn, its state evolves based on state information received from its immediate neighbors only. In coalition games, all the robots in each coalition decide collectively and new links are added or removed based on the improvement they offer to the respective coalition. This time, the state of each robot evolves based on state information from all the other robots in its coalition, albeit with delays that depend on their geodesic proximity. Simulation results provide insights on comparative performance with respect to task completion and connectivity under varying move periods.

Original languageEnglish (US)
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
StatePublished - 2011
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670

Bibliographical note

Funding Information:
This work has been supported by Bogazici University BAP Project 5169 and Tubitak Project MAG 107M240.


  • Decentralized decision-making
  • Dynamic communication networks
  • Game theory
  • Multi-robot navigation
  • Networked robotic systems


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