Alessandro Farinelli | Università di Verona (original) (raw)

Papers by Alessandro Farinelli

Research paper thumbnail of Decentralised Coordination in RoboCup Rescue

... MISC{Ramchurn_decentralisedcoordination, author = {Sarvapali D. Ramchurn and Ro Farinelli and... more ... MISC{Ramchurn_decentralisedcoordination, author = {Sarvapali D. Ramchurn and Ro Farinelli and Kathryn S and Maria ... 54, Robocup rescue: A grand challenge for multi-agent systems – Kitano - 2000. 25, M.: Allocating tasks in extreme teams – Scerri, Farinelli, et al. ...

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Multi-Robot Systems: A classication focused on coordination

ó Multi-Robot Systems (MRS) are, nowadays, an im- portant research area within Robotics and Artic... more ó Multi-Robot Systems (MRS) are, nowadays, an im- portant research area within Robotics and Articial Intelligence and a growing number of systems has been recently presented in the literature. Since application domains and tasks that are faced by MRS are of increasing complexity, the ability of the robots to cooperate can be regarded as a fundamental feature. In this paper,

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Building large-scale robot systems: Distributed role assignment in dynamic uncertain domains

For robot teams in large-scale, real-world domains, an effective approach for allocating roles to... more For robot teams in large-scale, real-world domains, an effective approach for allocating roles to team members (role allocation) is critical. Unfortunately, role alloca- tion is extremely challenging in such real-world domains since robots face significant uncertainties in their own ca- pabilities and they may be faced with dynamic,and con- tinuous changes in their capabilities. Previous work in multi-robotic and

Bookmarks Related papers MentionsView impact

Research paper thumbnail of RoboCupRescue - Virtual Robots League, Team SPQR-Virtual, Italy

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Allocating tasks in extreme teams

Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems - AAMAS '05, 2005

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A Fast Approach to Form Core-Stable Coalitions Based on a Dynamic Model

2013 IEEE/WIC/ACM International Joint Conferences on Web Intelligence (WI) and Intelligent Agent Technologies (IAT), 2013

ABSTRACT Forming collectives of agents that operate together as a group is a crucial challenge fo... more ABSTRACT Forming collectives of agents that operate together as a group is a crucial challenge for Multi-Agent Systems. In this paper we focus on a dynamic model for forming stable coalitions of selfish agents. Specifically, we consider the dynamic coalition formation approach proposed by Arnold and Schwalbe, where agents decides at each time step which of the existing coalition to join so to maximise their pay-off. We propose several key extensions to the approach to speed-up convergence and alleviate the computational burden for the agents. Our empirical analysis comprises two complementary scenarios: collective energy purchasing, where a set of energy consumer forms coalition to buy energy at reduced tariffs, and a synthetic benchmarking scenario. Our results in these scenarios indicate that our proposed extensions provide a speed-up in run time of up to four orders of magnitude with respect to the original approach.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of An analysis of coordination in Multi-Robot Systems

SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2003

Multi-Robot Systems (MRS) are, nowadays, an important research area within Robotics and Artificia... more Multi-Robot Systems (MRS) are, nowadays, an important research area within Robotics and Artificial Intelligence and a growing number of systems have been recently presented in the literature. In this paper we present an analysis of the most relevant works on MRS by specifically examining their cooperative aspects. In particular, we propose a new taxonomy for a fine and precise analysis of the recent works on MRS and we describe some approaches which we consider representative in our taxonomy. We finally discuss the outcome of our analysis and try to highlight future trends of the research on MRS.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Dynamic token generation for constrained tasks in a multi-robot system

2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583), 2004

The problem of assigning tasks to a group of robots acting in a dynamic environment is a fundamen... more The problem of assigning tasks to a group of robots acting in a dynamic environment is a fundamental issue for a MRS and is relevant to several real world applications. Several techniques have been studied to address this problem, however when the system needs to scale up with size, communication quickly becomes an important issue to address; moreover, tasks to

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Ontology-based coalition formation in heterogeneous MRS

Proceedings of the 2006 international symposium on Practical cognitive agents and robots - PCAR '06, 2006

Multi-robot coordination is an important field of study in the recent years, due to the need of s... more 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

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Visual coverage using autonomous mobile robots for search and rescue applications

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013

ABSTRACT

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A directional visual descriptor for large-scale coverage problems

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Task Assignment with Dynamic Perception and Constrained Tasks in a Multi-Robot System

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A Binary Factor Graph Model for Biclustering

Lecture Notes in Computer Science, 2014

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Self-organising Sensors for Wide Area Surveillance Using the Max-sum Algorithm

Lecture Notes in Computer Science, 2010

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Guest editorial: Special issue on optimisation in multi-agent systems

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Plan Monitoring and Validation for Cooperative Robotic Watercraft

Bookmarks Related papers MentionsView impact

Research paper thumbnail of AAAI Publications

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Workshop 25: Optimisation in Multi-agent Systems

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Sharing rides with friends: a coalition formation algorithm for ridesharing

ABSTRACT We consider the Social Ridesharing (SR) problem, where a set of commuters, connected thr... more ABSTRACT We consider the Social Ridesharing (SR) problem, where a set of commuters, connected through a social network, arrange one-time rides at short notice. In particular, we focus on the associated optimisation problem of forming cars to minimise the travel cost of the overall system modelling such problem as a graph constrained coalition formation (GCCF) problem, where the set of feasible coalitions is restricted by a graph (i.e., the social network). Moreover, we significantly extend the state of the art algorithm for GCCF, i.e., the CFSS algorithm, to solve our GCCF model of the SR problem. Our empirical evaluation uses a real dataset for both spatial (GeoLife) and social data (Twitter), to validate the applicability of our approach in a realistic application scenario. Empirical results show that our approach computes optimal solutions for systems of medium scale (up to 100 agents) providing significant cost reductions (up to -36.22%). Moreover, we can provide approximate solutions for very large systems (i.e., up to 2000 agents) and good quality guarantees (i.e., with an approximation ratio of 1.41 in the worst case) within minutes (i.e., 100 seconds).

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Explorative max-sum for teams of mobile sensing agents

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Decentralised Coordination in RoboCup Rescue

... MISC{Ramchurn_decentralisedcoordination, author = {Sarvapali D. Ramchurn and Ro Farinelli and... more ... MISC{Ramchurn_decentralisedcoordination, author = {Sarvapali D. Ramchurn and Ro Farinelli and Kathryn S and Maria ... 54, Robocup rescue: A grand challenge for multi-agent systems – Kitano - 2000. 25, M.: Allocating tasks in extreme teams – Scerri, Farinelli, et al. ...

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Multi-Robot Systems: A classication focused on coordination

ó Multi-Robot Systems (MRS) are, nowadays, an im- portant research area within Robotics and Artic... more ó Multi-Robot Systems (MRS) are, nowadays, an im- portant research area within Robotics and Articial Intelligence and a growing number of systems has been recently presented in the literature. Since application domains and tasks that are faced by MRS are of increasing complexity, the ability of the robots to cooperate can be regarded as a fundamental feature. In this paper,

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Building large-scale robot systems: Distributed role assignment in dynamic uncertain domains

For robot teams in large-scale, real-world domains, an effective approach for allocating roles to... more For robot teams in large-scale, real-world domains, an effective approach for allocating roles to team members (role allocation) is critical. Unfortunately, role alloca- tion is extremely challenging in such real-world domains since robots face significant uncertainties in their own ca- pabilities and they may be faced with dynamic,and con- tinuous changes in their capabilities. Previous work in multi-robotic and

Bookmarks Related papers MentionsView impact

Research paper thumbnail of RoboCupRescue - Virtual Robots League, Team SPQR-Virtual, Italy

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Allocating tasks in extreme teams

Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems - AAMAS '05, 2005

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A Fast Approach to Form Core-Stable Coalitions Based on a Dynamic Model

2013 IEEE/WIC/ACM International Joint Conferences on Web Intelligence (WI) and Intelligent Agent Technologies (IAT), 2013

ABSTRACT Forming collectives of agents that operate together as a group is a crucial challenge fo... more ABSTRACT Forming collectives of agents that operate together as a group is a crucial challenge for Multi-Agent Systems. In this paper we focus on a dynamic model for forming stable coalitions of selfish agents. Specifically, we consider the dynamic coalition formation approach proposed by Arnold and Schwalbe, where agents decides at each time step which of the existing coalition to join so to maximise their pay-off. We propose several key extensions to the approach to speed-up convergence and alleviate the computational burden for the agents. Our empirical analysis comprises two complementary scenarios: collective energy purchasing, where a set of energy consumer forms coalition to buy energy at reduced tariffs, and a synthetic benchmarking scenario. Our results in these scenarios indicate that our proposed extensions provide a speed-up in run time of up to four orders of magnitude with respect to the original approach.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of An analysis of coordination in Multi-Robot Systems

SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2003

Multi-Robot Systems (MRS) are, nowadays, an important research area within Robotics and Artificia... more Multi-Robot Systems (MRS) are, nowadays, an important research area within Robotics and Artificial Intelligence and a growing number of systems have been recently presented in the literature. In this paper we present an analysis of the most relevant works on MRS by specifically examining their cooperative aspects. In particular, we propose a new taxonomy for a fine and precise analysis of the recent works on MRS and we describe some approaches which we consider representative in our taxonomy. We finally discuss the outcome of our analysis and try to highlight future trends of the research on MRS.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Dynamic token generation for constrained tasks in a multi-robot system

2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583), 2004

The problem of assigning tasks to a group of robots acting in a dynamic environment is a fundamen... more The problem of assigning tasks to a group of robots acting in a dynamic environment is a fundamental issue for a MRS and is relevant to several real world applications. Several techniques have been studied to address this problem, however when the system needs to scale up with size, communication quickly becomes an important issue to address; moreover, tasks to

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Ontology-based coalition formation in heterogeneous MRS

Proceedings of the 2006 international symposium on Practical cognitive agents and robots - PCAR '06, 2006

Multi-robot coordination is an important field of study in the recent years, due to the need of s... more 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

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Visual coverage using autonomous mobile robots for search and rescue applications

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013

ABSTRACT

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A directional visual descriptor for large-scale coverage problems

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Task Assignment with Dynamic Perception and Constrained Tasks in a Multi-Robot System

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A Binary Factor Graph Model for Biclustering

Lecture Notes in Computer Science, 2014

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Self-organising Sensors for Wide Area Surveillance Using the Max-sum Algorithm

Lecture Notes in Computer Science, 2010

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Guest editorial: Special issue on optimisation in multi-agent systems

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Plan Monitoring and Validation for Cooperative Robotic Watercraft

Bookmarks Related papers MentionsView impact

Research paper thumbnail of AAAI Publications

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Workshop 25: Optimisation in Multi-agent Systems

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Sharing rides with friends: a coalition formation algorithm for ridesharing

ABSTRACT We consider the Social Ridesharing (SR) problem, where a set of commuters, connected thr... more ABSTRACT We consider the Social Ridesharing (SR) problem, where a set of commuters, connected through a social network, arrange one-time rides at short notice. In particular, we focus on the associated optimisation problem of forming cars to minimise the travel cost of the overall system modelling such problem as a graph constrained coalition formation (GCCF) problem, where the set of feasible coalitions is restricted by a graph (i.e., the social network). Moreover, we significantly extend the state of the art algorithm for GCCF, i.e., the CFSS algorithm, to solve our GCCF model of the SR problem. Our empirical evaluation uses a real dataset for both spatial (GeoLife) and social data (Twitter), to validate the applicability of our approach in a realistic application scenario. Empirical results show that our approach computes optimal solutions for systems of medium scale (up to 100 agents) providing significant cost reductions (up to -36.22%). Moreover, we can provide approximate solutions for very large systems (i.e., up to 2000 agents) and good quality guarantees (i.e., with an approximation ratio of 1.41 in the worst case) within minutes (i.e., 100 seconds).

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Explorative max-sum for teams of mobile sensing agents

Bookmarks Related papers MentionsView impact