Multi-robot decision making based on coordination graphs

In this paper, within a group of cooperating agents the decision making of an individual agent depends on the actions of the other agents. In dynamic environments, these dependencies will change rapidly as a result of the continuously changing state. Via a context-specific decomposition of the problem into smaller sub-problems, coordination graphs offer scalable solutions to the problem of multi-agent decision making. We will apply coordination graphs to the continuous domain by assigning roles to the agents and then coordinating the different roles. Finally, we will demonstrate this method in the RoboCup soccer simulation domain.