On measures of cooperation in distributed systems under uncertainties

Pavlo A. Krokhmal, David E. Jeffcoat

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


We study the evolution of distributed multiagent systems under uncertainty where the autonomous agents may cooperate with each other, and/or with supervisor/operator, in order to achieve the system's objective. The cooperation is facilitated by means of information sharing among the autonomous agents and/or supervisor/operator, which has the purpose of improving the effectiveness of the autonomous agents. The evolution of cooperative systems is modeled using discrete-state, continuous-time Markov processes. To measure and quantify the degree of cooperation within such systems, we introduce the concept of coefficient of cooperation, which is obtained by minimizing the Kullback-Leibler or 1-norm distances between nonstationary probability distributions. The presented techniques are illustrated on several different types of multiagent search systems.

Original languageEnglish (US)
Pages (from-to)39-53
Number of pages15
JournalMilitary Operations Research
Issue number4
StatePublished - 2010


  • Coefficient of cooperation
  • Cooperation
  • Kullback-Leibler divergence
  • Markov processes
  • Multi-agent systems

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Mechanical Engineering
  • Management Science and Operations Research


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