Multi-Robot Cooperation Coalition Formation Based on Genetic Algorithm

Coalition formation is a key problem in multi-robot cooperation. The formation of multi-robot cooperation for single or multi-task is settled via finding the coalition maximum value or the coalition structure with the largest total coalition value. Traditionally, exhaustive method is used to get the optimal coalition or coalition structure with huge consumption in both computation time and communication overhead, which possibly results in search combination explosion. In this paper, agent coalition cooperation in MAS (multi-agent system) is applied in multi-robot system with genetic algorithm for the formation of multi-robot coalition and coalition structure in order to gain the possible maximum coalition value during task execution through finding the optimal solution or feasible solution for multi-robot coalition and coalition structure