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@InProceedings{aaai06diag,
  author = 	 {Meir Kalech and Gal A. Kaminka and Amnon Meisels and Yehuda Elmaliach},
  title = 	 {Diagnosis of Multi-Robot Coordination Failures Using Distributed {CSP} Algorithms},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle = AAAI-06,
  OPTpages = 	 {In press},
  year = 	 {2006},
  abstract = { With increasing deployment of systems involving multiple coordinating agents,
	       there is a growing need
               for diagnosing coordination failures in such
               systems. Previous work presented centralized methods
               for coordination failure diagnosis; however, these are
               not always applicable, due to the significant
               computational and communication requirements, and the
               brittleness of a single point of failure. In this paper
               we propose a distributed approach to model-based
               coordination failure diagnosis. We model the
               coordination between the agents as a constraint graph,
               and adapt several algorithms from the distributed CSP
               area, to use as the basis for the diagnosis
               algorithms. We evaluate the algorithms in extensive
               experiments with simulated and real Sony Aibo robots
               and show that in general a trade-off exists between the
               computational requirements of the algorithms, and their
               diagnosis results. Surprisingly, in contrast to results
               in distributed CSPs, the asynchronous backtracking
               algorithm outperforms stochastic local search in terms
               of both quality and runtime.},
  wwwnote = {An earlier version appeared in the Proceedings of the 3rd MONET Workshop on Model-Based Systems at ECAI-06},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTannote = 	 {}
}