Team Formation for Reformation in Multiagent Domains Like RoboCupRescue

Team formation, i.e., allocating agents to roles within a team or subteams of a team, and the reorganization of a team upon team member failure or arrival of new tasks are critical aspects of teamwork. They are very important issues in RoboCupRescue where many tasks need to be done jointly. While empirical comparisons (e.g., in a competition setting as in RoboCup) are useful, we need a quantitative analysis beyond the competition — to understand the strengths and limitations of different approaches, and their tradeoffs as we scale up the domain or change domain properties. To this end, we need to provide complexity-optimality tradeoffs, which have been lacking not only in RoboCup but in the multiagent field in general.