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Although many approaches have been developed to form robot coalitions that can achieve a multirobot task, no general methods exist to execute these coalitions, especially when the coordination among the robots is tightly coupled. In this paper, we propose a coordination mechanism as the first step to address coalition execution; it provides a flexible method to reason about synergies with overlapping...
While most previous research on forming coalitions mainly concentrates on loosely coupled multirobot tasks, a more challenging problem is to address tightly coupled multirobot tasks that involve close robot coordinations, which often require capability sharing. General methods for autonomous capability sharing have been shown to greatly improve the flexibility of distributed systems. However, in addition...
In our prior work, we proposed the IQ-ASyMTRe architecture as a general method to combine coalition formation and execution for tightly-coupled multirobot tasks. IQ-ASyMTRe extends the ASyMTRe architecture by introducing several new mechanisms to provide more flexibility for coalition formation as well as to facilitate coalition execution. On the other hand, these mechanisms also change the process...
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