BAR: Breakdown Agent Replacement Algorithm for SCRAM

In the Multi-Agent Systems, many agents work together towards achieving a defined goal. As it may be difficult for the agents to work in a dynamic environment, the current concept is trying to focus on the issues of situation where there may be cases of agent breaking down. We are implementing the SCRAM-Scalable Collision-avoiding Role Assignment with Minimalmakespan, which has generalized to many Multi-Agent Systems specifically focusing on the collision avoidance among the agents [1]. We are trying to address the impact and fate of breakdown agents, which otherwise is not yet addressed in SCRAM, through a new algorithm. This algorithm will distinguish and groupify the breakdown agents from the active agents. This paper is designed to allow the generalization of the concept of SCRAM without any collision and disturbances even in the case of agent breakdown.