Generation of Coupling Topologies for Multi-Agent Systems using Non-Cooperative Games

This paper presents a method for generating coupling topologies for multi-agent systems. Our method is based on a non-cooperative game in which each agent chooses couplings to activate or deactivate using a utility function. The utility function measures the importance of agents to one another and enables conflict avoidance in distributed decision-making. Depending on the application's needs, our method is able to generate unidirectional or bidirectional couplings. In our evaluation, we used car-like robots in a simulation environment. It shows that the generated coupling topologies are applicable to the domain of networked and autonomous vehicles.