Anytime and Efficient Multi-agent Coordination for Disaster Response

Abstract The Coalition Formation with Spatial and Temporal constraints Problem (CFSTP) is a multi-agent task allocation problem where the tasks are spatially distributed, deadlines workloads, number of agents typically much smaller than tasks. To maximise completed tasks, may have to schedule coalitions. state-of-the-art CFSTP solver, Look-Ahead (CFLA) algorithm, has two main limitations. First, its time complexity exponential agents. Second, as we show, look-ahead technique not effective in real-world scenarios, such open systems, new can appear at any time. In this work, study design define variant, called Improved ( $$\text {CFLA}2$$ CFLA 2 ), which achieves better performance. Since cannot eliminate limitations CFLA , also develop novel algorithm solve CFSTP, first be simultaneously anytime, efficient convergence guarantee, Cluster-based Task Scheduling (CTS). tests highly effective, CTS completes up $$30\%$$ 30 % (resp. $$10\%$$ 10 ) more while being 4 orders magnitude faster. We propose S-CTS, simplified but parallel variant even lower complexity. Using scenarios generated by RoboCup Rescue Simulation, show that S-CTS most less performing high-performance algorithms Binary Max-Sum DSA, 2 Our results affirm CFSTP.