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Extra resources for Agents and Artificial Intelligence: 6th International Conference, ICAART 2014, Angers, France, March 6–8, 2014, Revised Selected Papers
6 to indicate the strategy combining (1a,2b,3a,4a). When the robots perform the ﬁrst task, as all the required blocks have the same color, the fourth dimension does not make sense because any holding block can contribute to the team goal until the task is ﬁnished. Therefore, we can eliminate this dimension and ﬁnally have 5 setups left for this task, and we 26 C. Wei et al. use MS (iii) in Sect. 6 to indicate the strategy combining (1a,2b,3b). For the communication cases, we have three setups, communicating only beliefs, only goals, and both beliefs and goals, in each environmental condition.
81 % for 8 robots performing in the environment with 10 rooms. Working as a team, robots are expected to have as few collisions as possible, and we use Pc to reduce the likelihood that robots may collide with each other. For example, suppose we want the likelihood of collisions for k = 4 robots to be less than 5 %, then we need n > 119. This tells us that it is virtually impossible to avoid collisions without communication in large robot teams as a very large number of rooms would be required then.
Initial Room Selection. At the beginning of the task, a robot has to choose a room to explore since it does not have any information about the dispersed blocks in the environment. One possible option labeled (1a) is to choose a random room without considering any distance information. Assuming that k robots initially select a room to visit from n available rooms, the probability that each robot chooses a diﬀerent room to visit is P , and the probability that collisions may occur in the team is Pc = 1 − P .