Orchid Project

@inproceedings{
  orchid260,
  booktitle = {AAMAS 16: 15th Int. Conf. on Autonomous Agents and Multi-Agent Systems},
  title = {Online planning for collaborative search and rescue by heterogeneous robot teams},
  author = {Z Beck and W L Teacy and Alex Rogers and Nicholas R Jennings},
  year = {2016},
keywords = {Human-Agent Interaction, Human-Robot Interaction, Mechanism Design, Machine Learning, Applications, Agile Teaming, Incentive Engineering} }

@article{
  orchid251,
  title = {Human-agent collaboration for disaster response },
  author = {Sarvapali D Ramchurn and Feng Wu and J.E. Fischer and Steven Reece and W Jiang and Stephen J Roberts and T Rodden and Nicholas R Jennings},
  year = {2016},
  pages = {1--30},
  journal = {Journal of Autonomous Agents and Multi-Agent Systems},
keywords = {Disaster Recovery, Human-Agent Interaction, Accountable Information Infrastructure, Applications, Agile Teaming, Flexible Autonomy, Incentive Engineering} }

@inproceedings{
  orchid255,
  booktitle = {CHI 2016},
  title = {The Effect of Displaying System Confidence Information on the Usage of Autonomous Systems for Non-specialist Applications: A Lab Study },
  author = {Jhim Verame and Enrico Costanza and Sarvapali D Ramchurn},
  year = {2016},
  keywords = {Human-Agent Interaction, Human-Computer Interaction, Trust and Reputation, Agile Teaming, Flexible Autonomy},
howpublished = {http://www.orchid.ac.uk/eprints/255/1/proceedings.pdf} }

@article{
  orchid249,
  volume = {229},
  month = {December},
  title = {Coalition structure generation},
  author = {Talal Rahwan and Tomasz Michalak and Michael Wooldridge and Nicholas R Jennings},
  year = {2015},
  pages = {139--174},
  journal = {Artificial Intelligence},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/249/1/CSG%2520survey%2520published%2520version.pdf} }

@article{
  orchid234,
  volume = {6},
  number = {1},
  title = {Modelling the thermal dynamics of buildings: a latent force model based approach},
  author = {Siddhartha Ghosh and Steven Reece and Alex Rogers and Stephen J Roberts and Areej Malibari and Nicholas R Jennings},
  year = {2015},
  pages = {1--27},
  journal = {ACM Transactions on Intelligent Systems and Technology},
  keywords = {Energy Management, Mechanism Design, Machine Learning, Agile Teaming, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/234/1/Modelling%2520the%2520Thermal%2520Dynamics%2520of%2520Buildings%2520-%2520A%2520Latent%2520Force%2520Model%2520Based%2520Approach.pdf} }

@inproceedings{
  orchid241,
  booktitle = {AAAI-15: Twenty-Ninth Conference on Artificial Intelligence},
  title = {A noise scaled semi parametric gaussian process model for real time water network leak detection in the presence of heteroscedasticity},
  author = {Obaid Malik and Alex Rogers and Siddhartha Ghosh},
  year = {2015},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/241/1/MALIK%5fAAAI2015.pdf} }

@inproceedings{
  orchid228,
  booktitle = {AAMAS-15 : 14th Int. Conf. on Autonomous Agents and Multi-Agent Systems },
  title = {ADA-HEAT: A general adaptive intelligent agent for domestic heating control},
  author = {Athanasios Aris Panagopoulos and Moody Alam and Alex Rogers and Nicholas R Jennings},
  year = {2015},
keywords = {Energy Management, Human-Agent Interaction, Applications, Agile Teaming} }

@inproceedings{
  orchid218,
  booktitle = {AAAI-15: Twenty-Ninth Conference on Artificial Intelligence},
  title = {Towards optimal solar tracking: a dynamic programming approach. },
  author = {Athanasios Aris Panagopoulos and G Chalkiadakis and Nicholas R Jennings},
  year = {2015},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/218/1/pcj2014.pdf} }

@inproceedings{
  orchid242,
  booktitle = {IJCAI 15},
  title = {A Study of Human-Agent Collaboration for Multi-UAV Task Allocation in Dynamic Environments},
  author = {Sarvapali D Ramchurn and J.E. Fischer and Yuki Ikuno and Feng Wu and J Flann and Antony Waldock},
  year = {2015},
  keywords = {Disaster Recovery, Human-Agent Interaction, Applications, Agile Teaming, Flexible Autonomy},
howpublished = {http://www.orchid.ac.uk/eprints/242/1/ramchurn%5fetal%5fijcai.pdf} }

@inproceedings{
  orchid230,
  booktitle = {AAMAS-15 : 14th Int. Conf. on Autonomous Agents and Multi-Agent Systems },
  title = {HAC-ER: A disaster response system based on human-agent collectives},
  author = {Sarvapali D Ramchurn and Edwin Simpson and J.E. Fischer and T. Dong Huynh and Yuki Ikuno and Steven Reece and W Jiang and Feng Wu and J Flann and Stephen J Roberts and T Rodden and Nicholas R Jennings},
  year = {2015},
keywords = {Disaster Recovery, Human-Agent Interaction, Accountable Information Infrastructure, Applications, Agile Teaming, Flexible Autonomy, Incentive Engineering} }

@inproceedings{
  orchid227,
  booktitle = {AAMAS-15 : 14th Int. Conf. on Autonomous Agents and Multi-Agent Systems },
  title = {Observation modelling for vision-based target search by unmanned aerial vehicles},
  author = {W L Teacy and S Julier and R De Nardi and Alex Rogers and Nicholas R Jennings},
  year = {2015},
keywords = {Human-Robot Interaction, Machine Learning, Applications, Agile Teaming} }

@inproceedings{
  orchid239,
  booktitle = {IJCAI 15},
  title = {Agile Planning for Real-World Disaster Response.},
  author = {Feng Wu and Sarvapali D Ramchurn and W Jiang and J.E. Fischer and T Rodden and Nicholas R Jennings},
  year = {2015},
  keywords = {Agent-based Computing, Disaster Recovery, Mechanism Design, Applications, Agile Teaming, Flexible Autonomy, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/239/1/main.pdf} }

@article{
  orchid204,
  number = {217},
  month = {August},
  title = {An Unsupervised Training Method for Non-intrusive Appliance Load Monitoring},
  author = {Oliver Parson and Siddhartha Ghosh and Mark Weal and Alex Rogers},
  year = {2014},
  pages = {1--19},
  journal = {Artificial Intelligence},
  keywords = {Energy Management, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/204/1/nialm-aij.pdf} }

@inproceedings{
  orchid244,
  booktitle = {ACM BuildSys 2014},
  title = {Applying Extended Kalman Filters to Adaptive Thermal Modelling in Homes},
  author = {Moody Alam and Athanasios Aris Panagopoulos and Alex Rogers and Nicholas R Jennings and James Scott},
  year = {2014},
  keywords = {Energy Management, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/244/1/Alam-Final.pdf} }

@inproceedings{
  orchid171,
  booktitle = {13th Int. Conf. on Autonomous Agents and Multi-Agent Systems},
  title = {A field study of human-agent interaction for electricity tariff switching},
  author = {Alper Alan and Enrico Costanza and J.E. Fischer and Sarvapali D Ramchurn and T Rodden and Nicholas R Jennings},
  year = {2014},
keywords = {Energy Management, Agile Teaming} }

@inproceedings{
  orchid223,
  booktitle = { International Conference on Future Energy Systems (ACM e-Energy)},
  title = {NILMTK: An Open Source Toolkit for Non-intrusive Load Monitoring },
  author = {Nipun Batra and Jack Kelly and Oliver Parson and Haimonti Dutta and William Knottenbelt and Alex Rogers and Amarjeet Singh and Mani Srivastava},
  year = {2014},
  keywords = {Energy Management, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/223/1/NILMTK.pdf} }

@article{
  orchid199,
  volume = {71},
  title = { Task Assignment with Controlled and Autonomous Agents},
  author = {Florian Biermann and Victor Naroditskiy and Maria Polukarov and Tri-Dung Nguyen and Alex Rogers and Nicholas R Jennings},
  year = {2014},
  pages = {116--121},
  journal = {Mathematical Social Sciences},
  keywords = {Agent-based Computing, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/199/1/MSS.pdf} }

@inproceedings{
  orchid175,
  booktitle = {13th Int. Conf. on Autonomous Agents and Multi-Agent Systems},
  title = {Anytime Coalition Structure Generation on Synergy Graphs},
  author = {Filippo Bistaffa and Alessandro Farinelli and Jesus Cerquides and Juan Antonio Rodriguez-Aguilar and Sarvapali D Ramchurn},
  year = {2014},
keywords = {Mechanism Design, Agile Teaming} }

@article{
  orchid224,
  volume = {28},
  number = {3},
  title = {Agent-based decentralised coordination for sensor networks using the max-sum algorithm. },
  author = {Alessandro Farinelli and Alex Rogers and Nicholas R Jennings},
  year = {2014},
  pages = {337--380},
  journal = {Journal of Autonomous Agents and Multi-Agent Systems},
  keywords = {Decentralised Control, Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/224/1/main.pdf} }

@article{
  orchid198,
  title = {On human-agent collectives},
  author = {Nicholas R Jennings and Luc Moreau and David Nicholson and Sarvapali D Ramchurn and Stephen J Roberts and T Rodden and Alex Rogers},
  year = {2014},
  journal = {Communications of the ACM },
  keywords = {Agent-based Computing, Crowd-sourcing, Disaster Recovery, Energy Management, Human Computation, Provenance, Ubiquitous Computing, Accountable Information Infrastructure, Applications, Agile Teaming, Flexible Autonomy, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/198/1/CACM%2520HAC%2520ARTICLE%2520%2520final.pdf} }

@inproceedings{
  orchid176,
  booktitle = {13th Int. Conf. on Autonomous Agents and Multi-Agent Systems},
  title = {Coalition Structure Generation with the Graphics Processing Unit},
  author = {Krzysztof Pawlowski and Karol Kurach and Kim Svensson and Sarvapali D Ramchurn and Tomasz Michalak and Talal Rahwan},
  year = {2014},
keywords = {Mechanism Design, Agile Teaming} }

@article{
  orchid196,
  title = {Efficient state-space inference of periodic latent force models. },
  author = {Steven Reece and Stephen J Roberts and Siddhartha Ghosh and Alex Rogers and Nicholas R Jennings},
  year = {2014},
  pages = {1--66},
  journal = {Journal of Machine Learning Research},
  keywords = {Machine Learning, Agile Teaming, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/196/1/reece14.pdf} }

@inproceedings{
  orchid174,
  booktitle = {13th Int. Conf. on Autonomous Agents and Multi-Agent Systems},
  title = {Online Mechanism Design for Scheduling Non-Preemptive Jobs under Uncertain Supply and Demand},
  author = {Philipp Strohle and Enrico H Gerding and M de Weerdt and Sebastian Stein and Valentin Robu},
  year = {2014},
keywords = {Mechanism Design, Agile Teaming} }

@article{
  orchid195,
  title = {Efficient crowdsourcing of unknown experts using bounded multi-armed bandits},
  author = {Long Tran-Thanh and Sebastian Stein and Alex Rogers and Nicholas R Jennings},
  year = {2014},
  journal = {Artificial Intelligence},
  keywords = {Crowd-sourcing, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/195/1/mab%5fcrowdsourcing%5fAIJ.pdf} }

@inproceedings{
  orchid170,
  booktitle = {13th Int. Conf. on Autonomous Agents and Multi-Agent Systems},
  title = {Prediction-of-use games: a cooperative game theory approach to sustainable energy tariffs},
  author = {Meritxell Vinyals and Valentin Robu and Alex Rogers and Nicholas R Jennings},
  year = {2014},
keywords = {Energy Management, Agile Teaming} }

@inproceedings{
  orchid194,
  booktitle = {AAAI-14: Twenty-Eighth Conference on Artificial Intelligence},
  title = { Regret-based multi-agent coordination with uncertain task rewards},
  author = {Feng Wu and Nicholas R Jennings},
  year = {2014},
  keywords = {Agent-based Computing, Decentralised Control, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/194/1/aaai.pdf} }

@article{
  orchid222,
  volume = {51},
  title = {A Hidden Markov Model-Based Acoustic Cicada Detector for Crowdsourced Smartphone Biodiversity Monitoring.},
  author = {Davide Zilli and Oliver Parson and Geoff V. Merrett and Alex Rogers},
  year = {2014},
  pages = {805--827},
  journal = {Journal of Artificial Intelligence Research},
  keywords = {Crowd-sourcing, Human-Agent Interaction, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/222/1/zilli14a.pdf} }

@inproceedings{
  orchid129,
  booktitle = {Autonomous Agents and Multiagent Systems (AAMAS) Conference },
  title = {Cooperative energy exchange for the efficient use of energy and resources in remote communities.},
  author = {Moody Alam and Sarvapali D Ramchurn and Alex Rogers},
  year = {2013},
  pages = {731--738},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/129/1/aamas467-alam.pdf} }

@inproceedings{
  orchid130,
  booktitle = {Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI-13)},
  title = {Interdependent multi-issue negotiation for energy exchange in remote communities.},
  author = {Moody Alam and Alex Rogers and Sarvapali D Ramchurn},
  year = {2013},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/130/1/alam-186.pdf} }

@inproceedings{
  orchid131,
  booktitle = {23rd International Joint Conference on Artificial Intelligence},
  title = {C-Link: a hierarchical clustering approach to large-scale near-optimal coalition formation.},
  author = {Alessandro Farinelli and Manuele Bicego and Sarvapali D Ramchurn and Marco Zuchelli},
  year = {2013},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/131/1/final.pdf} }

@article{
  orchid146,
  title = {Agent-Based Decentralised Coordination for Sensor Networks using the Max-Sum Algorithm},
  author = {Alessandro Farinelli and Alex Rogers and Nicholas R Jennings},
  year = {2013},
  journal = {Journal of Autonomous Agents and Multi-Agent Systems },
  keywords = {Agent-based Computing, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/146/1/main.pdf} }

@inproceedings{
  orchid98,
  booktitle = {International Conference on Intelligent User Interfaces },
  title = {Recommending energy tariffs and load shifting based on smart household usage profiling},
  author = {J.E. Fischer and Sarvapali D Ramchurn and Michael A Osborne and Oliver Parson and T. Dong Huynh and Moody Alam and N Pantidi and Stuart Moran and Khaled Bachour and Steven Reece and Enrico Costanza and T Rodden and Nicholas R Jennings},
  year = {2013},
  pages = {383--394},
  keywords = {Energy Management, Accountable Information Infrastructure, Applications, Agile Teaming, Flexible Autonomy},
howpublished = {http://www.orchid.ac.uk/eprints/98/1/IUI2013-agentswitch-camera-ready.pdf} }

@inproceedings{
  orchid97,
  booktitle = {12th Int. Conf on Autonomous Agents and Multi-Agent Systems},
  title = {Two-sided online markets for electric vehicle charging},
  author = {Enrico H Gerding and Sebastian Stein and Valentin Robu and D Zhao and Nicholas R Jennings},
  year = {2013},
  pages = {989--996},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/97/1/fp488-gerding-eprints.pdf} }

@inproceedings{
  orchid132,
  booktitle = {AtInternational Conference on Autonomous Agents and Multi-Agent Systems (AAMAS 2013), },
  title = {RMASBench: a benchmarking system for multi-agent coordination in urban search and rescue. },
  author = {Alexander Kleiner and Alessandro Farinelli and Sarvapali D Ramchurn and Bing Shi and Fabio Mafioletti and Riccardo Refatto},
  year = {2013},
keywords = {Disaster Recovery, Agile Teaming} }

@inproceedings{
  orchid136,
  booktitle = {Twenty-Sixth Conference of the Association for the Advancement for Artificial Intelligence},
  title = {Competing with humans at fantasy football: team formation in large partially-observable domains.},
  author = {Tim Matthews and Sarvapali D Ramchurn and G Chalkiadakis},
  year = {2013},
  pages = {1394--1400},
  keywords = {Machine Learning, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/136/1/fantasyFootball2012cr.pdf} }

@article{
  orchid162,
  title = {Breaking the habit: measuring and predicting departures from routine in individual human mobility. },
  author = {James McInerney and Sebastian Stein and Alex Rogers and Nicholas R Jennings},
  year = {2013},
  pages = {1--26},
  journal = {Pervasive and Mobile Computing},
  keywords = {Human-Agent Interaction, Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/162/2/article.pdf} }

@inproceedings{
  orchid148,
  booktitle = {International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp 2013)},
  title = {Modelling heterogeneous location habits in human populations for location prediction under data sparsity},
  author = {James McInerney and Jiangchuan Zheng and Alex Rogers and Nicholas R Jennings},
  year = {2013},
  pages = {469--478},
  keywords = {Crowd-sourcing, Human-Agent Interaction, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/148/1/paper143.pdf} }

@inproceedings{
  orchid139,
  booktitle = {23rd Int. Joint Conf. on AI (IJCAI)},
  title = {Computational analysis of connectivity games with application to investigation of terrorist networks },
  author = {Tomasz Michalak and Talal Rahwan and Piotr Szczepanski and R Narayanam and Michael Wooldridge and Nicholas R Jennings},
  year = {2013},
keywords = {Mechanism Design, Agile Teaming} }

@inproceedings{
  orchid138,
  booktitle = {23rd Int. Joint Conf. on AI (IJCAI)},
  title = {Coalitional games via network flows },
  author = {Talal Rahwan and Tri-Dung Nguyen and Tomasz Michalak and Maria Polukarov and M Croitoru and Michael Wooldridge and Nicholas R Jennings},
  year = {2013},
keywords = {Mechanism Design, Agile Teaming} }

@inproceedings{
  orchid177,
  booktitle = {5th ACM Workshop On Embedded Systems For Energy-Efficient Buildings (BuildSys)},
  title = {A Scalable Low-Cost Solution to Provide Personalised Home Heating Advice to Households },
  author = {Alex Rogers and Siddhartha Ghosh and Reuben Wilcock and Nicholas R Jennings},
  year = {2013},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/177/1/01%5fRogers.pdf} }

@article{
  orchid90,
  title = {Near-optimal continuous patrolling with teams of mobile information gathering agents},
  author = {Ruben Stranders and E Munoz de Cote and Alex Rogers and Nicholas R Jennings},
  year = {2013},
  pages = {63--105},
  journal = {Artificial Intelligence},
  keywords = {Decentralised Control, Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/90/1/main%5fnew.pdf} }

@inproceedings{
  orchid140,
  booktitle = {23rd Int. Joint Conf. on AI (IJCAI)},
  title = {An efficient vector-based representation for coalitional games },
  author = {Long Tran-Thanh and Tri-Dung Nguyen and Talal Rahwan and Alex Rogers and Nicholas R Jennings},
  year = {2013},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/140/1/optimal%5fcoalition%5fgeneration%5fIJCAI2013.pdf} }

@inproceedings{
  orchid133,
  booktitle = {23rd International Joint Conference on Artificial Intelligence (IJCAI 2013), },
  title = {Forecasting multi-appliance usage for smart home energy management.},
  author = {Ngoc Cuong Truong and James McInerney and Long Tran-Thanh and Enrico Costanza and Sarvapali D Ramchurn},
  year = {2013},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/133/1/ijcai2013%5fcamera.pdf} }

@inproceedings{
  orchid134,
  booktitle = {Agent Technologies for Energy Systems (ATES 2013),},
  title = {Activity prediction for agent-based home energy management.},
  author = {Ngoc Cuong Truong and Long Tran-Thanh and Enrico Costanza and Sarvapali D Ramchurn},
  year = {2013},
  keywords = {Energy Management, Human-Agent Interaction, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/134/1/ates2013.pdf} }

@inproceedings{
  orchid135,
  booktitle = {ACM E-Energy 2013},
  title = {Towards appliance usage prediction for home energy management.},
  author = {Ngoc Cuong Truong and Long Tran-Thanh and Enrico Costanza and Sarvapali D Ramchurn},
  year = {2013},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/135/1/e%5fenergy2013.pdf} }

@inproceedings{
  orchid150,
  booktitle = {First Conference on Human Computation and Crowdsourcing (HCOMP 2013)},
  title = {Crowdsourcing Spatial Phenomena Using Trust-Based Heteroskedastic Gaussian Processes.},
  author = {Matteo Venanzi and Alex Rogers and Nicholas R Jennings},
  year = {2013},
  keywords = {Crowd-sourcing, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/150/1/trustgp.pdf} }

@inproceedings{
  orchid95,
  booktitle = {12th Int. Conf on Autonomous Agents and Multi-Agent Systems},
  title = {Trust-based fusion of untrustworthy information in crowdsourcing applications},
  author = {Matteo Venanzi and Alex Rogers and Nicholas R Jennings},
  year = {2013},
  pages = {829--836},
  keywords = {Crowd-sourcing, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/95/1/main.pdf} }

@inproceedings{
  orchid141,
  booktitle = {23rd Int. Joint Conf. on AI (IJCAI) },
  title = {Monte-Carlo Expectation Maximization for Decentralized POMDPs},
  author = {Feng Wu and Shlomo Zilberstein},
  year = {2013},
  keywords = {Decentralised Control, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/141/1/WZJijcai13.pdf} }

@inproceedings{
  orchid87,
  booktitle = {BuildSys 2012},
  month = {November},
  title = {A Scalable Low-Cost Solution to Provide Personalized Home Heating Advice to Households},
  author = {Alex Rogers and Reuben Wilcock and Siddhartha Ghosh and Nicholas R Jennings},
  year = {2012},
  keywords = {Energy Management, Human-Agent Interaction, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/87/1/A%5fScalable%5fLow-Cost%5fSolution%5fto%5fProvide%5fPersonalized%5fHome%5fHeating%5fAdvice%5fto%5fHouseholds.pdf} }

@inproceedings{
  orchid57,
  booktitle = {14th ACM Int. Conf. on Ubiquitous Computing},
  month = {September},
  title = {Understanding domestic energy consumption through interactive visualisation: a field study},
  author = {Enrico Costanza and Sarvapali D Ramchurn and Nicholas R Jennings},
  year = {2012},
  pages = {216--225},
  keywords = {Human-Computer Interaction, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/57/1/fe.pdf} }

@inproceedings{
  orchid49,
  booktitle = {Twenty-Sixth Conference on Artificial Intelligence (AAAI-12)},
  month = {July},
  title = {Non-intrusive load monitoring using prior models of general appliance types},
  author = {Oliver Parson and Siddhartha Ghosh and Mark Weal and Alex Rogers},
  year = {2012},
  keywords = {Energy Management, Machine Learning, Applications, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/49/1/nialm.pdf},
abstract = {Non-intrusive appliance load monitoring is the process of disaggregating a household's total electricity consumption into its contributing appliances. In this paper we propose an approach by which individual appliances can be iteratively separated from an aggregate load. Unlike existing approaches, our approach does not require training data to be collected by sub-metering individual appliances, nor does it assume complete knowledge of the appliances present in the household. Instead, we propose an approach in which prior models of general appliance types are tuned to specific appliance instances using only signatures extracted from the aggregate load. The tuned appliance models are then used to estimate each appliance's load, which is subsequently subtracted from the aggregate load. This process is applied iteratively until all appliances for which prior behaviour models are known have been disaggregated. We evaluate the accuracy of our approach using the REDD data set, and show the disaggregation performance when using our training approach is comparable to when sub-metered training data is used. We also present a deployment of our system as a live application and demonstrate the potential for personalised energy saving feedback.} }

@incollection{
  orchid69,
  month = {June},
  author = {James McInerney and Sebastian Stein and Alex Rogers and Nicholas R Jennings},
  booktitle = {Mobile Data Challenge by Nokia},
  address = {Newcastle upon Tyne, UK},
  title = {Exploring periods of low predictability in daily life mobility.},
  publisher = {Nokia},
  journal = {Mobile Data Challenge by Nokia},
  year = {2012},
  keywords = {Human-Agent Interaction, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/69/1/paper%5fextended%5fpast2.pdf} }

@article{
  orchid30,
  month = {May},
  title = {Deploying the Max-Sum Algorithm for Coordination and Task Allocation of Unmanned Aerial Vehicles for Live Aerial Imagery Collection.},
  author = {Francesco {Delle Fave} and Alex Rogers and Zhe Xu and Salah Sukkarieh and Nicholas R Jennings},
  publisher = {IEEE, St Pauls, USA},
  year = {2012},
  journal = {Proc. IEEE Int. Conf. on Robotics and Automation (ICRA)},
  keywords = {Decentralised Control, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/30/1/sample%5fnew.pdf} }

@article{
  orchid23,
  title = {Coalitional stability in structured environments},
  author = {G Chalkiadakis and V Markakis and Nicholas R Jennings},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems},
  keywords = {Human-Agent Interaction, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/23/1/cmjCStabStrEnv2012.pdf} }

@inproceedings{
  orchid48,
  booktitle = {IAAI 2012: The Twenty-Fourth Innovative Applications of Artificial Intelligence Conference},
  title = {A methodology for deploying the max-sum algorithm and a case study on unmanned aerial vehicles.},
  author = {Francesco {Delle Fave} and Alessandro Farinelli and Alex Rogers and Nicholas R Jennings},
  year = {2012},
  journal = {IAAI 2012: The Twenty-Fourth Innovative Applications of Artificial Intelligence Conference},
  keywords = {Disaster Recovery, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/48/1/delle%5ffave%5fiaai%5f2012.pdf} }

@inproceedings{
  orchid68,
  booktitle = {20th European Conference on Artificial Intelligence (ECAI 2012)},
  title = {An anytime algorithm for finding the epsilon-core in nontransferable utility coalitional games.},
  author = {Gregory Hines and Talal Rahwan and Nicholas R Jennings},
  year = {2012},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/68/1/NTUcore.pdf} }

@article{
  orchid42,
  title = {Optimal decentralised dispatch of embedded generation in the smart grid},
  author = {Sam Miller and Sarvapali D Ramchurn and Alex Rogers},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems.},
  keywords = {Decentralised Control, Applications, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/42/1/AAMAS2012GenCoordCameraReady.pdf} }

@article{
  orchid22,
  title = {Efficient sharing of conflicting information in large decentralised teams},
  author = {Oleksandr Pryymak and Alex Rogers and Nicholas R Jennings},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems},
  keywords = {Decentralised Control, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/22/1/paper%5faamas12.pdf} }

@inproceedings{
  orchid55,
  booktitle = {26th Conference on Artificial Intelligence (AAAI-12)},
  title = {A hybrid algorithm for coalition structure generation.},
  author = {Talal Rahwan and Tomasz Michalak and Nicholas R Jennings},
  year = {2012},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/55/1/Paper%5f524.pdf} }

@article{
  orchid52,
  volume = {186},
  title = {Anytime coalition structure generation in multi-agent systems with positive or negative externalities},
  author = {Talal Rahwan and Tomasz Michalak and Michael Wooldridge and Nicholas R. Jennings},
  year = {2012},
  pages = {95--122},
  journal = {Artificial Intelligence},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/52/1/Published%5fversion.pdf} }

@article{
  orchid88,
  volume = {55},
  number = {4},
  title = {Putting the "Smarts" into the Smart Grid: A Grand Challenge for Artificial Intelligence.},
  author = {Sarvapali D Ramchurn and Perukrishnen Vytelingum and Alex Rogers and Nicholas R Jennings},
  year = {2012},
  pages = {86--97},
  journal = {Communications of the ACM},
  keywords = {Energy Management, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/88/1/ramchurn%5fetal%5fsmart%5fgrid.pdf} }

@inproceedings{
  orchid56,
  booktitle = {Twenty-Sixth AAAI Conference on Artificial Intelligence (AAAI-12)},
  title = {Delivering the smart grid: Challenges for autonomous agents and multi-agent systems research},
  author = {Alex Rogers and Sarvapali D Ramchurn and Nicholas R Jennings},
  year = {2012},
  keywords = {Agent-based Computing, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/56/1/smart%5fgrid.pdf} }

@article{
  orchid26,
  title = {Decentralised channel allocation and information sharing for teams of cooperative agents},
  author = {Sebastian Stein and S Williamson and Nicholas R Jennings},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems,},
  keywords = {Decentralised Control, Applications, Agile Teaming, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/26/1/camera%5fready%5ffinal.pdf} }

@article{
  orchid25,
  title = {DCOPS and bandits: Exploration and exploitation in decentralised coordination},
  author = {Ruben Stranders and Long Tran-Thanh and Francesco {Delle Fave} and Alex Rogers and Nicholas R Jennings},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems},
  keywords = {Decentralised Control, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/25/1/mab%5fdcops.pdf} }

@article{
  orchid29,
  title = {A New Approach to Betweenness Centrality Based on the Shapley Value},
  author = {Piotr Szczepanski and Tomasz Michalak and Talal Rahwan},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems,},
keywords = {Mechanism Design, Agile Teaming} }

@article{
  orchid27,
  title = {Decentralized Bayesian reinforcement learning for online agent collaboration},
  author = {W L Teacy and G Chalkiadakis and Alessandro Farinelli and Alex Rogers and Nicholas R Jennings and S McClean and G Parr},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems,},
  keywords = {Machine Learning, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/27/1/AAMAS2012%5f0089%5f7016861a9.pdf} }

@inproceedings{
  orchid65,
  booktitle = {20th European Conference on Artificial Intelligence (ECAI 2012)},
  title = {Efficient crowdsourcing of unknown experts using multi-armed bandits.},
  author = {Long Tran-Thanh and Sebastian Stein and Alex Rogers and Nicholas R Jennings},
  year = {2012},
  keywords = {Crowd-sourcing, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/65/1/mab%5fcrowdsourcing%5fecai2012%5ffinal.pdf} }

@inproceedings{
  orchid67,
  booktitle = {20th European Conference on Artificial Intelligence (ECAI 2012)},
  title = {Multi-unit auctions with a stochastic number of asymmetric bidders.},
  author = {Ioannis A. Vetsikas and Sebastian Stein and Nicholas R Jennings},
  year = {2012},
  keywords = {Mechanism Design, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/67/1/riskvalunc.pdf} }

@article{
  orchid24,
  title = {On coalition formation with sparse synergies},
  author = {Thomas Voice and Sarvapali D Ramchurn and Nicholas R Jennings},
  publisher = {AAMAS},
  year = {2012},
  journal = {Proc. 11th Int. Conference on Autonomous Agents and Multi-Agent Systems},
  keywords = {Human-Agent Interaction, Agile Teaming},
howpublished = {http://www.orchid.ac.uk/eprints/24/1/AAMAS2012%5f0446%5f388b64a15.pdf} }

@article{
  orchid18,
  month = {May},
  title = {Resource-Aware Junction Trees for Efficient Multi-Agent Coordination },
  author = {Nicolas Stefanovich and Alessandro Farinelli and Alex Rogers and Nicholas R Jennings},
  year = {2011},
  pages = {363--370},
  journal = {The Tenth International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2011)},
  keywords = {Agent-based Computing, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/18/1/main%5fa11.pdf},
abstract = {In this paper we address efficient decentralised coordination of cooperative multi-agent systems by taking into account the actual computation and communication capabilities of the agents. We consider coordination problems that can be framed as Distributed Constraint Optimisation Problems, and as such, are suitable to be deployed on large scale multi-agent systems such as sensor networks or multiple unmanned aerial vehicles. Specifically, we focus on techniques that exploit structural independence among agents? actions to provide optimal solutions to the coordination problem, and, in particular, we use the Generalized Distributive Law (GDL) algorithm. In this settings, we propose a novel resource aware heuristic to build junction trees and to schedule GDL computations across the agents. Our goal is to minimise the total running time of the coordination process, rather than the theoretical complexity of the computation, by explicitly considering the computation and communication capabilities of agents. We evaluate our proposed approach against DPOP, RDPI and a centralized solver on a number of benchmark coordination problems, and show that our approach is able to provide optimal solutions for DCOPs faster than previous approaches. Specifically, in the settings considered, when resources are scarce our approach is up to three times faster than DPOP (which proved to be the best among the competitors in our settings).} }

@techreport{
  orchid126,
  month = {February},
  author = {Nicholas R Jennings and Stephen J Roberts and T Rodden and Luc Moreau and Alex Rogers and Sarvapali D Ramchurn and David Nicholson},
  address = {Southampton},
  title = {ORCHID End of Year Report 2011},
  type = {Project Report},
  publisher = {University of Southampton},
  institution = {University of Southampton},
  year = {2011},
  keywords = {Accountable Information Infrastructure, Applications, Agile Teaming, Flexible Autonomy, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/126/1/End%20of%20Year%20Report%202011.pdf} }

@article{
  orchid17,
  volume = {175},
  number = {2},
  month = {February},
  author = {Alex Rogers and Alessandro Farinelli and Ruben Stranders and Nicholas R Jennings},
  title = {Bounded Approximate Decentralised Coordination via the Max-Sum Algorithm },
  publisher = {Elsevier},
  year = {2011},
  journal = {Artificial Intelligence},
  pages = {730--759},
  keywords = {Mechanism Design, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/17/1/4136.pdf},
abstract = {In this paper we propose a novel approach to decentralised coordination, that is able to efficiently compute solutions with a guaranteed approximation ratio. Our approach is based on a factor graph representation of the constraint network. It builds a tree structure by eliminating dependencies between the functions and variables within the factor graph that have the least impact on solution quality. It then uses the max-sum algorithm to optimally solve the resulting tree structured constraint network, and provides a bounded approximation specific to the particular problem instance. In addition, we present two generic pruning techniques to reduce the amount of computation that agents must perform when using the max-sum algorithm. When this is combined with the above mentioned approximation algorithm, the agents are able to solve decentralised coordination problems that have very large action spaces with a low computation and communication overhead. We empirically evaluate our approach in a mobile sensor domain, where mobile agents are used to monitor and predict the state of spatial phenomena (e.g., temperature or gas concentration). Such sensors need to coordinate their movements with their direct neighbours to maximise the collective information gain, while predicting measurements at unobserved locations. When applied in this domain, our approach is able to provide solutions which are guaranteed to be within 2% of the optimal solution. Moreover, the two pruning techniques are extremely effective in decreasing the computational effort of each agent by reducing the size of the search space by up to 92%.} }

@techreport{
  orchid36,
  number = {PARG-11-01},
  author = {Jan-P Calliess and D Lyons and U.D. Hanebeck},
  address = {Oxford},
  title = {Lazy auctions for multi-robot collision avoidance and motion control under uncertainty.},
  type = {Technical Report},
  publisher = {University of Oxford},
  year = {2011},
  institution = {University of Oxford},
  journal = {ACM Transactions of Sensor Networks},
  keywords = {Machine Learning, Agile Teaming, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/36/1/PARG%5f01%5f11.pdf} }

@article{
  orchid31,
  title = {Cooperatives of Distributed Energy Resources for Efficient Virtual Power Plants},
  author = {G Chalkiadakis and Valentin Robu and R Kota and Alex Rogers and Nicholas R Jennings},
  publisher = {AAMAS},
  year = {2011},
  pages = {787--794},
  journal = {Proc. Tenth Int. Conference on Autonomous Agents and Multiagent Systems},
  keywords = {Decentralised Control, Applications, Agile Teaming, Incentive Engineering},
howpublished = {http://www.orchid.ac.uk/eprints/31/1/ccrjVPPcoop.pdf} }

@article{
  orchid13,
  title = {A unifying framework for iterative approximate best? response algorithms for distributed constraint optimisation problems},
  author = {Archie C Chapman and Alex Rogers and David Leslie and Nicholas R Jennings},
  year = {2011},
  journal = {The Knowledge Engineering Review},
  keywords = {Agent-based Computing, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/13/1/ChapmanEtalKER09%5fpreprint.pdf},
abstract = {Distributed constraint optimisation problems (DCOPs) are important in many areas of computer science and optimisation. In a DCOP, each variable is controlled by one of many autonomous agents, who together have the joint goal of maximising a global objective function. A wide variety of techniques have been explored to solve such problems, and here we focus on one of the main families, namely iterative approximate best?response algorithms used as local search algorithms for DCOPs. We define these algorithms as those in which, at each iteration, agents communicate only the states of the variables under their control to their neighbours on the constraint graph, and that reason about their next state based on the messages received from their neighbours. These algorithms include the distributed stochastic algorithm and stochastic coordination algorithms, the maximum?gain messaging algorithms, the families of fictitious play and adaptive play algorithms, and algorithms that use regret?based heuristics. This family of algorithms is commonly employed in real world systems, as they can be used in domains where communication is difficult or costly, where it is appropriate to trade timeliness off against optimality, or where hardware limitations render complete or more computationally intensive algorithms unusable. However, until now, no overarching framework has existed for analysing this broad family of algorithms, resulting in similar and overlapping work being published independently in several different literatures. The main contribution of this paper, then, is the development of a unified analytical framework for studying such algorithms. This framework is built on our insight that when formulated as noncooperative games, DCOPs form a subset of the class of potential games. This result allows us to prove convergence properties of iterative approximate best?response algorithms developed in the computer science literature using game theoretic methods (which also shows that such algorithms can also be applied to the more general problem of finding Nash equilibria in potential games), and, conversely, also allows us to show that many game?theoretic algorithms can be used to solve DCOPs. By so doing, our framework can assist system designers by making the pros and cons of, and the synergies between, the various iterative approximate best?response DCOP algorithm components clear.} }

@inproceedings{
  orchid2,
  booktitle = {Proc 10th Int Conf on Autonomous Agents and Multi-Agent Systems},
  title = {Bounded Decentralised Coordination over Multiple Objectives},
  author = {Francesco {Delle Fave} and Ruben Stranders and Alex Rogers and Nicholas R Jennings},
  year = {2011},
  pages = {371--378},
  keywords = {Agent-based Computing, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/2/1/bounded%5fdecentralised%5fcoordination.pdf},
abstract = {We propose the bounded multi-objective max-sum algorithm (B-MOMS), the first decentralised coordination algorithm for multi-objective optimisation problems. B-MOMS extends the max-sum message-passing algorithm for decentralised coordination to compute bounded approximate solutions to multi-objective decentralised constraint optimisation problems (MO-DCOPs). Specifically, we prove the optimality of B-MOMS in acyclic constraint graphs, and derive problem dependent bounds on its approximation ratio when these graphs contain cycles. Furthermore, we empirically evaluate its performance on a multi-objective extension of the canonical graph colouring problem. In so doing, we demonstrate that, for the settings we consider, the approximation ratio never exceeds 2, and is typically less than 1:5 for less-constrained graphs. Moreover, the runtime required by B-MOMS on the problem instances we considered never exceeds 30 minutes, even for maximally constrained graphs with 100 agents. Thus, B-MOMS brings the problem of multi-objective optimisation well within the boundaries of the limited capabilities of embedded agents.} }

@inproceedings{
  orchid3,
  booktitle = {Twenty-Fifth Conference on Artificial Intelligence},
  title = {A Distributed Anytime Algorithm for Dynamic Task Allocation in Multi-Agent Systems},
  author = {Kathryn S Macarthur and Ruben Stranders and Sarvapali D Ramchurn and Nicholas R Jennings},
  year = {2011},
  keywords = {Agent-based Computing, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/3/1/A%5fDistributed%5fAnytime%5fAlgorithm%5ffor%5fDynamic%5fTask%5fAllocation.pdf},
abstract = {We introduce a novel distributed algorithm for multi-agent task allocation problems where the sets of tasks and agents constantly change over time.We build on an existing anytime algorithm (fast-max-sum), and give it significant new capabilities: namely, an online pruning procedure that simplifies the problem, and a branch-and-bound technique that reduces the search space. This allows us to scale to problems with hundreds of tasks and agents.We empirically evaluate our algorithm against established benchmarks and find that, even in such large environments, a solution is found up to 31% faster, and with up to 23% more utility, than state-of-the-art approximation algorithms. In addition, our algorithm sends up to 30% fewer messages than current approaches when the set of agents or tasks changes.} }

@inproceedings{
  orchid4,
  booktitle = {Workshop on Link Analysis in Heterogeneous Information Networks (IJCAI-11)},
  title = {Efficient Sharing of Conflicting Opinions with Minimal Communication in Large Decentralised Teams},
  author = {Oleksandr Pryymak and Alex Rogers and Nicholas R Jennings},
  year = {2011},
  keywords = {Agent-based Computing, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/4/1/Efficient%5fSharing%5fof%5fConflicting%5fOpinions.pdf},
abstract = {In large decentralised teams agents often share uncertain and conflicting information across the network, and it is a major challenge for team members to reach accurate conclusions individually. Previously, this problem was approached by introducing a communication overhead in order to reason about the accuracy of information or to reach agreements interactively. We address the more challenging problem of improving the accuracy in settings where communication is strictly limited to sharing opinions about the real state of the common subject of interest. We do so by presenting a novel decentralised algorithm, AAT, which reaches the settings of emergent behaviour in a team where agents? opinions becomes dramatically more accurate. We show that our solution significantly outperforms the existing algorithm, DACOR, and delivers an accuracy of opinions close to a team pretuned for the highest performance by empirical exploration of its parameters. Moreover, in contrast to the message-passing DACOR, our algorithm has a minimal communication requirement, where only opinions are shared, as well as significantly lower computational expenses. Finally, AAT delivers a high accuracy of opinions in settings where up to half of the team does not participate in optimising sharing parameters.} }

@inproceedings{
  orchid6,
  booktitle = {Proc. 25th Conference on AI (AAAI)},
  title = {Constrained Coalition Formation},
  author = {Talal Rahwan and Tomasz Michalak and Edith Elkind and Piotr Faliszewski and Jacek Sroka and Michael Wooldridge and Nicholas R Jennings},
  year = {2011},
  pages = {719--725},
  keywords = {Agent-based Computing, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/6/1/Constrained%5fCoalition%5fFormation.pdf},
abstract = {The conventional model of coalition formation considers every possible subset of agents as a potential coalition. However, in many real-world applications, there are inherent constraints on feasible coalitions: for instance, certain agents may be prohibited from being in the same coalition, or the coalition structure may be required to consist of coalitions of the same size. In this paper, we present the first systematic study of constrained coalition formation (CCF). We propose a general framework for this problem, and identify an important class of CCF settings, where the constraints specify which groups of agents should/should not work together. We describe a procedure that transforms such constraints into a structured input that allows coalition formation algorithms to identify, without any redundant computations, all the feasible coalitions. We then use this procedure to develop an algorithm for generating an optimal (welfare-maximizing) constrained coalition structure, and show that it outperforms existing state-of-the-art approaches by several orders of magnitude.} }

@inproceedings{
  orchid5,
  booktitle = {IJCAI 11},
  title = {Minimum Search To EstablishWorst-Case Guarantees in Coalition Structure Generation},
  author = {Talal Rahwan and Tomasz Michalak and Nicholas R Jennings},
  year = {2011},
  pages = {338--343},
  keywords = {Agent-based Computing, Agile Teaming},
  howpublished = {http://www.orchid.ac.uk/eprints/5/1/Rahwan%5fMichalak%5fJennings%5f1338%5fcamera%5fready.pdf},
abstract = {Coalition formation is a fundamental research topic in multi-agent systems. In this context, while it is desirable to generate a coalition structure that maximizes the sum of the values of the coalitions, the space of possible solutions is often too large to allow exhaustive search. Thus, a fundamental open question in this area is the following: Can we search through only a subset of coalition structures, and be guaranteed to find a solution that is within a desirable bound ? from optimum? If so, what is the minimum such subset? To date, the above question has only been partially answered by Sandholm et al. in their seminal work on anytime coalition structure generation [Sandholm et al., 1999]. More specifically, they identified minimum subsets to be searched for two particular bounds: ? = n and ? = dn=2e. Nevertheless, the question remained open for other values of ?. In this paper} }