• arXiv.cs.MA Pub Date : 2020-09-22
Armin Moin

In this paper, we advocate Agent-Oriented Software Engi-neering (AOSE) through employing Belief-Desire-Intention (BDI) intel-ligent agents for developing Sense-Compute-Control (SCC) applications in the Internet of Things and Services (IoTS). We argue that not only the agent paradigm, in general, but also cognitive BDI agents with sense-deliberate-act cycle, in particular, fit very well to the nature

更新日期：2020-09-23
• arXiv.cs.MA Pub Date : 2020-09-22
Vasyliy I. Gurianov

In this paper, we propose a simulation model of spacetime as a discrete model of physical space. The model is based on the ideas of Stephen Wolfram and uses non-numerical modelling. The simulation model is described as an ontology. We use object-oriented simulation (OOS), but the model is also suitable for agent-based simulation (ABS). We use UML2 SP (UML Scientific Profile), an object-oriented simulation

更新日期：2020-09-23
• arXiv.cs.MA Pub Date : 2020-09-22
Basem AtiqSabanci University; Volkan PatogluSabanci University; Esra ErdemSabanci University

We study a dynamic version of multi-agent path finding problem (called D-MAPF) where existing agents may leave and new agents may join the team at different times. We introduce a new method to solve D-MAPF based on conflict-resolution. The idea is, when a set of new agents joins the team and there are conflicts, instead of replanning for the whole team, to replan only for a minimal subset of agents

更新日期：2020-09-23
• arXiv.cs.MA Pub Date : 2020-09-21
Ehud Shapiro; Nimrod Talmon

The executive branch, or government, is typically not elected directly by the people, but rather formed by another elected body or person such as the parliament or the president. As a result, its members are not directly accountable to the people, individually or as a group. We consider a scenario in which the members of the government are elected directly by the people, and wish to achieve proportionality

更新日期：2020-09-22
• arXiv.cs.MA Pub Date : 2020-09-21
Gabriele Farina; Andrea Celli; Nicola Gatti; Tuomas Sandholm

We focus on the problem of finding an optimal strategy for a team of two players that faces an opponent in an imperfect-information zero-sum extensive-form game. Team members are not allowed to communicate during play but can coordinate before the game. In that setting, it is known that the best the team can do is sample a profile of potentially randomized strategies (one per player) from a joint (a

更新日期：2020-09-22
• arXiv.cs.MA Pub Date : 2020-09-21
Atrisha Sarkar; Krzysztof Czarnecki

With autonomous vehicles (AV) set to integrate further into regular human traffic, there is an increasing consensus of treating AV motion planning as a multi-agent problem. However, the traditional game theoretic assumption of complete rationality is too strong for the purpose of human driving, and there is a need for understanding human driving as a bounded rational activity through a behavioral game

更新日期：2020-09-22
• arXiv.cs.MA Pub Date : 2020-09-21
Giacomo Como; Stéphane Durand; Fabio Fagnani

We study an optimal targeting problem for super-modular games with binary actions and finitely many players. The considered problem consists in the selection of a subset of players of minimum size such that, when the actions of these players are forced to a controlled value while the others are left to repeatedly play a best response action, the system will converge to the greatest Nash equilibrium

更新日期：2020-09-22
• arXiv.cs.MA Pub Date : 2020-09-21
Yuan Chang; Zhiyong Sun; Han Zhou; Xiangke Wang; Lincheng Shen; Tianjiang Hu

This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its novelty lies in two aspects: 1) the elliptic coordinates are used to represent an arbitrary tracking formation without singularity, which can be deduced from inter-agent

更新日期：2020-09-22
• arXiv.cs.MA Pub Date : 2020-09-21
Adam Bignold; Francisco Cruz; Richard Dazeley; Peter Vamplew; Cameron Foale

Reinforcement learning is an approach used by intelligent agents to autonomously learn new skills. Although reinforcement learning has been demonstrated to be an effective learning approach in several different contexts, a common drawback exhibited is the time needed in order to satisfactorily learn a task, especially in large state-action spaces. To address this issue, interactive reinforcement learning

更新日期：2020-09-22
• arXiv.cs.MA Pub Date : 2020-09-16
Karush Suri; Xiao Qi Shi; Konstantinos Plataniotis; Yuri Lawryshyn

Multi-Agent Reinforcement Learning (MARL) has demonstrated significant success in training decentralised policies in a centralised manner by making use of value factorization methods. However, addressing surprise across spurious states and approximation bias remain open problems for multi-agent settings. We introduce the Energy-based MIXer (EMIX), an algorithm which minimizes surprise utilizing the

更新日期：2020-09-22
• arXiv.cs.MA Pub Date : 2020-09-18
Efstathios Bakolas; Yoonjae Lee

We propose a decentralized game-theoretic framework for dynamic task allocation problems for multi-agent systems. In our problem formulation, the agents' utilities depend on both the rewards and the costs associated with the successful completion of the tasks assigned to them. The rewards reflect how likely is for the agents to accomplish their assigned tasks whereas the costs reflect the effort needed

更新日期：2020-09-21
• arXiv.cs.MA Pub Date : 2020-09-18
Sid Chi-Kin Chau; Khaled Elbassioni; Yue Zhou

Coalition formation is a central part of social interactions. In the emerging era of social peer-to-peer interactions (e.g., sharing economy), coalition formation will be often carried out in a decentralized manner, based on participants' individual preferences. A likely outcome will be a stable coalition structure, where no group of participants could cooperatively opt out to form another coalition

更新日期：2020-09-21
• arXiv.cs.MA Pub Date : 2020-09-13
Kunal Srivastava; Amit Surana

In this paper we explore the application of simultaneous move Monte Carlo Tree Search (MCTS) based online framework for tactical maneuvering between two unmanned aircrafts. Compared to other techniques, MCTS enables efficient search over long horizons and uses self-play to select best maneuver in the current state while accounting for the opponent aircraft tactics. We explore different algorithmic

更新日期：2020-09-21
• arXiv.cs.MA Pub Date : 2020-09-17
Pallavi Bagga; Nicola Paoletti; Kostas Stathis

We present a novel bilateral negotiation model that allows a self-interested agent to learn how to negotiate over multiple issues in the presence of user preference uncertainty. The model relies upon interpretable strategy templates representing the tactics the agent should employ during the negotiation and learns template parameters to maximize the average utility received over multiple negotiations

更新日期：2020-09-20
• arXiv.cs.MA Pub Date : 2020-09-16
Nieves Montes; Carles Sierra

Value alignment has emerged in recent years as a basic principle to produce beneficial and mindful Artificial Intelligence systems. It mainly states that autonomous entities should behave in a way that is aligned with our human values. In this work, we summarize a previously developed model that considers values as preferences over states of the world and defines alignment between the governing norms

更新日期：2020-09-18
• arXiv.cs.MA Pub Date : 2020-09-15
Renming LiuDTU Management, Technical University of Denmark, Denmark; Siyu ChenCEE, Massachusetts Institute of Technology, United States; Yu JiangDTU Management, Technical University of Denmark, Denmark; Ravi SeshadriSingapore-MIT Alliance for Research and Technology, Singapore; Moshe E. Ben-AkivaCEE, Massachusetts Institute of Technology, United States; Carlos Lima AzevedoDTU Management, Technical

This study investigates the efficiency and effectiveness of area-based tradable credit scheme (TCS) based on the trip-based Macroscopic Fundamental Diagram model for the morning commute problem. In the proposed tradable credit scheme, the regulator distributes initial credits to all travelers and designs a time-varying and trip length specific credit tariff. Credits are traded between travelers and

更新日期：2020-09-16
• arXiv.cs.MA Pub Date : 2020-09-09
Patrick Reinwald; Stephan Leitner; Friederike Wall

We follow the agentization approach and transform the standard-hidden action model introduced by Holmstr\"om into an agent-based model. Doing so allows us to relax some of the incorporated rather "heroic" assumptions related to the (i) availability of information about the environment and the (ii) principal's and agent's cognitive capabilities (with a particular focus on their memory). In contrast

更新日期：2020-09-16
• arXiv.cs.MA Pub Date : 2020-09-15
Hiroyasu Inoue; Yohsuke Murase; Yasuyuki Todo

To prevent the spread of COVID-19, many cities, states, and countries have `locked down', restricting economic activities in non-essential sectors. Such lockdowns have substantially shrunk production in most countries. This study examines how the economic effects of lockdowns in different regions interact through supply chains, a network of firms for production, simulating an agent-based model of production

更新日期：2020-09-16
• arXiv.cs.MA Pub Date : 2020-09-15
Antonio Ginart; Eva Zhang; James Zou

This papers studies how competition affects machine learning (ML) predictors. As ML becomes more ubiquitous, it is often deployed by companies to compete over customers. For example, digital platforms like Yelp use ML to predict user preference and make recommendations. A service that is more often queried by users, perhaps because it more accurately anticipates user preferences, is also more likely

更新日期：2020-09-16
• arXiv.cs.MA Pub Date : 2020-09-14
Nauman Khalid Ghalib Tahir Peter Bloodsworth

Multi-agent systems are often limited in terms of persistenceand scalability. This issue is more prevalent for applications inwhich agent states changes frequently. This makes the existingmethods less usable as they increase the agent's complexityand are less scalable. This research study has presented anovel in-memory agent persistence framework. Two prototypeshave been implemented, one using the

更新日期：2020-09-15
• arXiv.cs.MA Pub Date : 2020-09-14
Mustafa Mert Celikok; Pierre-Alexandre Murena; Samuel Kaski

In sequential machine teaching, a teacher's objective is to provide the optimal sequence of inputs to sequential learners in order to guide them towards the best model. In this paper we extend this setting from current static one-data-set analyses to learners which change their learning algorithm or latent state to improve during learning, and to generalize to new datasets. We introduce a multi-agent

更新日期：2020-09-15
• arXiv.cs.MA Pub Date : 2020-09-14
Yuanyuan Shi; Baosen Zhang

In this work, we study the interaction of strategic agents in continuous action Cournot games with limited information feedback. Cournot game is the essential market model for many socio-economic systems where agents learn and compete without the full knowledge of the system or each other. We consider the dynamics of the policy gradient algorithm, which is a widely adopted continuous control reinforcement

更新日期：2020-09-15
• arXiv.cs.MA Pub Date : 2020-09-13
Christos Papadimitriou; Kiran Vodrahalli; Mihalis Yannakakis

On-line firms deploy suites of software platforms, where each platform is designed to interact with users during a certain activity, such as browsing, chatting, socializing, emailing, driving, etc. The economic and incentive structure of this exchange, as well as its algorithmic nature, have not been explored to our knowledge; we initiate their study in this paper. We model this interaction as a Stackelberg

更新日期：2020-09-15
• arXiv.cs.MA Pub Date : 2020-09-13
Chang Liu; Zhihao Liao; Silvia Ferrari

This paper presents a decentralized Gaussian Process (GP) learning, fusion, and planning (RESIN) formalism for mobile sensor networks to actively learn target motion models. RESIN is characterized by both computational and communication efficiency, and the robustness to rumor propagation in sensor networks. By using the weighted exponential product rule and the Chernoff information, a rumor-robust

更新日期：2020-09-15
• arXiv.cs.MA Pub Date : 2020-09-13
Takuma Yoneda; Matthew R. Walter; Jason Naradowsky

In multi-agent learning, agents must coordinate with each other in order to succeed. For humans, this coordination is typically accomplished through the use of language. In this work we perform a controlled study of human language use in a competitive team-based game, and search for useful lessons for structuring communication protocol between autonomous agents. We construct Pow-Wow, a new dataset

更新日期：2020-09-15
• arXiv.cs.MA Pub Date : 2020-09-12
Ran Xin; Shi Pu; Angelia Nedić; Usman A. Khan

Decentralized optimization to minimize a finite sum of functions over a network of nodes has been a significant focus within control and signal processing research due to its natural relevance to optimal control and signal estimation problems. More recently, the emergence of sophisticated computing and large-scale data science needs have led to a resurgence of activity in this area. In this article

更新日期：2020-09-15
• arXiv.cs.MA Pub Date : 2020-09-11
Juste Raimbault; Natalia Zdanowska; Elsa Arcaute

The emergence of interconnected urban networks is a crucial feature of globalisation processes. Understanding the drivers behind the growth of such networks - in particular urban firm networks -, is essential for the economic resilience of urban systems. We introduce in this paper a generative network model for firm networks at the urban area level including several complementary processes: the economic

更新日期：2020-09-14
• arXiv.cs.MA Pub Date : 2020-09-11
Julien M. Hendrickx; Michael G. Rabbat

The aim of decentralized gradient descent (DGD) is to minimize a sum of $n$ functions held by interconnected agents. We study the stability of DGD in open contexts where agents can join or leave the system, resulting each time in the addition or the removal of their function from the global objective. Assuming all functions are smooth, strongly convex, and their minimizers all lie in a given ball,

更新日期：2020-09-14
• arXiv.cs.MA Pub Date : 2020-09-11
Pedro BarriosENSGSI; Davy MonticoloENSGSI; Sahbi SidhomKIWI

This article is about an intelligent system to support ideas management as a result of a multi-agent system used in a distributed system with heterogeneous information as ideas and knowledge, after the results about an ontology to describe the meaning of these ideas. The intelligent system assists participants of the creativity workshop to manage their ideas and consequently proposing an ontology dedicated

更新日期：2020-09-14
• arXiv.cs.MA Pub Date : 2020-09-11
S. Rasoul Etesami

We study the problem of network robustness under consensus dynamics. We first show that maximizing the consensus time subject to removing limited network edges can be cast as an effective resistance interdiction problem. We then show that the effective resistance interdiction problem is strongly NP-hard, even for three types of resistors in the network, hence correcting some claims in the existing

更新日期：2020-09-14
• arXiv.cs.MA Pub Date : 2020-09-10
Chiao HsiehUniversity of Illinois at Urbana-Champaign; Hussein SibaiUniversity of Illinois at Urbana-Champaign; Hebron TaylorUniversity of Illinois at Urbana-Champaign; Sayan MitraUniversity of Illinois at Urbana-Champaign

Unmanned Aircraft Systems (UAS) are being increasingly used in delivery, infrastructure surveillance, fire-fighting, and agriculture. According to the Federal Aviation Administration (FAA), the number of active small commercial unmanned aircraft is going to grow from 385K in 2019 to 828K by 2024. UAS traffic management (UTM) system for low-altitude airspace is therefore immediately necessary for its

更新日期：2020-09-11
• arXiv.cs.MA Pub Date : 2020-09-09
Siddharth Mayya; David Saldaña; Vijay Kumar

For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks affect the performance of robots within the tasks. Our primary objective is to ensure that each task is assigned the requisite level of resources, measured as the aggregated

更新日期：2020-09-11
• arXiv.cs.MA Pub Date : 2020-09-10
Mattia Bianchi; Sergio Grammatico

We consider the Nash equilibrium problem in a partial-decision information scenario. Specifically, each agent can only receive information from some neighbors via a communication network, while its cost function depends on the strategies of possibly all agents. In particular, while the existing methods assume undirected or balanced communication, in this paper we allow for non-balanced, directed graphs

更新日期：2020-09-11
• arXiv.cs.MA Pub Date : 2020-09-10
Marco Karrer; Margarita Chli

VIO has been widely used and researched to control and aid the automation of navigation of robots especially in the absence of absolute position measurements, such as GPS. However, when observable landmarks in the scene lie far away from the robot's sensor suite, as it is the case at high altitude flights, the fidelity of estimates and the observability of the metric scale degrades greatly for these

更新日期：2020-09-11
• arXiv.cs.MA Pub Date : 2020-09-08
George Sidiropoulos; Chairi Kiourt; Lefteris Moussiades

With the advent of the computational technologies (Graphics Processing Units - GPUs) and Machine Learning, the research domain of crowd simulation for crisis management has flourished. Along with the new techniques and methodologies that have been proposed all those years, aiming to increase the realism of crowd simulation, several crisis simulation systems/tools have been developed, but most of them

更新日期：2020-09-10
• arXiv.cs.MA Pub Date : 2020-09-09
Iain Barclay; Maria Freytsis; Sherri Bucher; Swapna Radha; Alun Preece; Ian Taylor

Self-sovereign Identity promises to give users control of their own data, and has the potential to foster advancements in terms of personal data privacy. Self-sovereign concepts can also be applied to other entities, such as datasets and devices. Systems adopting this paradigm will be decentralised, with messages passing between multiple actors, both human and representing other entities, in order

更新日期：2020-09-10
• arXiv.cs.MA Pub Date : 2020-09-09
Jian Hu; Seth Austin Harding; Haibin Wu; Shih-wei Liao

In Cooperative Multi-Agent Reinforcement Learning (MARL) and under the setting of Centralized Training with Decentralized Execution (CTDE), agents observe and interact with their environment locally and independently. With local observation and random sampling, the randomness in rewards and observations leads to randomness in long-term returns. Existing methods such as Value Decomposition Network (VDN)

更新日期：2020-09-10
• arXiv.cs.MA Pub Date : 2020-09-08
Wicak Ananduta; Carlos Ocampo-Martinez; Angelia Nedić

We propose a distributed method to solve a multi-agent optimization problem with strongly convex cost function and equality coupling constraints. The method is based on Nesterov's accelerated gradient approach and works over stochastically time-varying communication networks. We consider the standard assumptions of Nesterov's method and show that the sequence of the expected dual values converge toward

更新日期：2020-09-10
• arXiv.cs.MA Pub Date : 2020-09-07
Ankit Sharma; Shreyash Arya; Shashee Kumari; Arnab Chatterjee

The pandemic caused by the novel Coronavirus SARS-CoV2 has been responsible for life threatening health complications, and extreme pressure on healthcare systems. While preventive and definite curative medical interventions are yet to arrive, Non-Pharmaceutical Interventions (NPIs) like physical isolation, quarantine and drastic social measures imposed by governing agencies are effective in arresting

更新日期：2020-09-10
• arXiv.cs.MA Pub Date : 2020-09-07
Charles Monnoyer de Galland; Samuel Martin; Julien M. Hendrickx

We consider open multi-agent systems, which are systems subject to frequent arrivals and departures of agents while the process studied takes place. We study the behavior of all-to-all pairwise gossip interactions in such open systems. Arrivals and departures of agents imply that the composition and size of the system evolve with time, and in particular prevent convergence. We describe the expected

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-07
Filippo Bistaffa; Juan A. Rodríguez-Aguilar; Jesús Cerquides

Peer-to-peer ridesharing (P2P-RS) enables people to arrange one-time rides with their own private cars, without the involvement of professional drivers. It is a prominent collective intelligence application producing significant benefits both for individuals (reduced costs) and for the entire community (reduced pollution and traffic), as we showed in a recent publication where we proposed an online

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-06

In participatory budgeting we are given a set of projects---each with a cost, an available budget, and a set of voters who in some form express their preferences over the projects. The goal is to select---based on voter preferences---a subset of projects whose total cost does not exceed the budget. We propose several aggregation methods based on the idea of cumulative votes, e.g., for the setting when

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-07
Matthew Harrison-Trainor

In an election in which each voter ranks all of the candidates, we consider the head-to-head results between each pair of candidates and form a labeled directed graph, called the margin graph, which contains the margin of victory of each candidate over each of the other candidates. A central issue in developing voting methods is that there can be cycles in this graph, where candidate $\mathsf{A}$ defeats

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-06
Yue Yang; Wencang Bao; Mohsen Ramezani; Zhe Xu

Nowadays, autonomous taxis become a highly promising transportation mode, which helps relieve traffic congestion and avoid road accidents. However, it hinders the wide implementation of this service that traditional models fail to efficiently allocate the available fleet to deal with the imbalance of supply (autonomous taxis) and demand (trips), the poor cooperation of taxis, hardly satisfied resource

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-06
Anton V. Proskurnikov; Guiseppe Calafiore

Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of consensus against communication delays. Such a robustness has been proved under the assumption of uniform quasi-strong connectivity of the graph. It is known, however, that

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-05
José Carlos Marinello; Taufik Abrão; Abolfazl Amiri; Elisabeth de Carvalho; Petar Popovski

We consider the recently proposed extra-large scale massive multiple-input multiple-output (XL-MIMO) systems, with some hundreds of antennas serving a smaller number of users. Since the array length is of the same order as the distance to the users, the long-term fading coefficients of a given user vary with the different antennas at the base station (BS). Thus, the signal transmitted by some antennas

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-04
Cornelis Jan van Leeuwen; Przemyzław Pawełczak

We propose a novel method for expediting both symmetric and asymmetric Distributed Constraint Optimization Problem (DCOP) solvers. The core idea is based on initializing DCOP solvers with greedy fast non-iterative DCOP solvers. This is contrary to existing methods where initialization is always achieved using a random value assignment. We empirically show that changing the starting conditions of existing

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-04
Cornelis Jan van Leeuwen; Joost Stam; Arun Subramanian; Koen Kok

A distributed, hierarchical, market based approach is introduced to solve the economic dispatch problem. The approach requires only a minimal amount of information to be shared between a central market operator and the end-users. Price signals from the market operator are sent down to end-user device agents, which in turn respond with power schedules. Intermediate congestion agents make sure that local

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-04

The Braess paradox describes the counterintuitive situation that the addition of new roads to road networks can lead to higher travel times for all network users. Recently we could show that user optima leading to the paradox exist in networks of microscopic transport models. We derived phase diagrams for two kinds of route choice strategies that were externally tuned and applied by all network users

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-03
Suyun Bae; Federico Rossi; Joshua Vander Hook; Scott Davidoff; Kwan-Liu Ma

Autonomous multi-robot systems, where a team of robots shares information to perform tasks that are beyond an individual robot's abilities, hold great promise for a number of applications, such as planetary exploration missions. Each robot in a multi-robot system that uses the shared-world coordination paradigm autonomously schedules which robot should perform a given task, and when, using its worldview--the

更新日期：2020-09-08
• arXiv.cs.MA Pub Date : 2020-09-03
Pengyuan Zhou; Xianfu Chen; Zhi Liu; Tristan Braud; Pan Hui; Jussi Kangasharju

The Internet of Vehicles (IoV) enables real-time data exchange among vehicles and roadside units and thus provides a promising solution to alleviate traffic jams in the urban area. Meanwhile, better traffic management via efficient traffic light control can benefit the IoV as well by enabling a better communication environment and decreasing the network load. As such, IoV and efficient traffic light

更新日期：2020-09-05
• arXiv.cs.MA Pub Date : 2020-09-03
Qiang Chen; Yu Zhao; Guanghui Wen; Guoqing Shi; Xinghuo Yu

In this paper, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multi-agent systems with bounded input disturbances are studied, respectively. Firstly, a new practical robust fixed-time sliding mode control method based on the time-based generator is proposed. Secondly, a fixed-time distributed consensus tracking

更新日期：2020-09-05
• arXiv.cs.MA Pub Date : 2020-09-03
Wei Su; Xueqiao Wang; Ge Chen; Kai Shen

Recently the theory of noise-induced synchronization of Hegselmann-Krause (HK) dynamics has been well developed. As a typical opinion dynamics of bounded confidence, the HK model obeys a synchronous updating rule, i.e., \emph{all} agents check and update their opinions at each time point. However, whether asynchronous bounded confidence models, including the famous Deffuant-Weisbuch (DW) model, can

更新日期：2020-09-05
• arXiv.cs.MA Pub Date : 2020-09-02

Distributed Constraint Optimization Problems (DCOPs) are a widely studied class of optimization problems in which interaction between a set of cooperative agents are modeled as a set of constraints. DCOPs are NP-hard and significant effort has been devoted to developing methods for finding incomplete solutions. In this paper, we study an emerging class of such incomplete algorithms that are broadly

更新日期：2020-09-05
• arXiv.cs.MA Pub Date : 2020-09-02
Rabiul Hasan Kabir; Kooktae Lee

This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given domain, reflecting a priority of areas of interest represented by a density distribution, rather than simply following a preset of uniform patterns. To achieve an

更新日期：2020-09-03
• arXiv.cs.MA Pub Date : 2020-09-01
Hans Riess; Yiannis Kantaros; George Pappas; Robert Ghrist

In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human operator. Such a task requires constant communication among all agents which may result in collisions and congestion in wireless communication. To mitigate this issue

更新日期：2020-09-03
• arXiv.cs.MA Pub Date : 2020-08-30
Daniele Vernon-Bido; Andrew J. Collins

Agent-based modeling (ABM) is a powerful paradigm to gain insight into social phenomena. One area that ABM has rarely been applied is coalition formation. Traditionally, coalition formation is modeled using cooperative game theory. In this paper, a heuristic algorithm is developed that can be embedded into an ABM to allow the agents to find coalition. The resultant coalition structures are comparable

更新日期：2020-09-02
• arXiv.cs.MA Pub Date : 2020-09-01
Qin Yang; Ramviyas Parasuraman

This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We specifically propose a needs-driven multi-robot cooperation mechanism represented through a Behavior Tree structure and evaluate the performance of the system in terms of the group utility and energy cost to achieve the rescue mission in

更新日期：2020-09-02
• arXiv.cs.MA Pub Date : 2020-09-01
Logan E. Beaver; Michael Dorothy; Christopher Kroninger; Andreas A. Malikopoulos

As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where agents seek to minimize energy consumption subject to a set of safety and task constraints. In this paper, we provide a sufficient and necessary condition for an

更新日期：2020-09-02
• arXiv.cs.MA Pub Date : 2020-09-01
Dinh Hoa Nguyen

This paper studies the optimal clearing problem for prosumers in peer-to-peer (P2P) energy markets. It is proved that if no trade weights are enforced and the communication structure between successfully traded peers is connected, then the optimal clearing price and total traded powers in P2P market are the same with that in the pool-based market. However, if such communication structure is unconnected

更新日期：2020-09-02
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