Ontology-based coalition formation in heterogeneous MRS

Multi-robot coordination is an important field of study in the recent years, due to the need of systems designed for complex tasks. Recently, the capability to perform tasks achievable only by multiple collaborating robots has been investigated, and there are studies on scenarios where robots can accomplish tasks/missions only if they have some aid from other robots. Our work focuses on coalition formation, where a robot coalition is a set of robots that is able to accomplish tasks that none of its member could perform autonomously with same effectiveness. We use a knowledge-based approach: we define an ontology for modelling robot capabilities and, using description logics reasoning systems, we realize a procedure that yields a partition of a team of robots in coalitions that improves the overall team performances. Copyright © held by author.