Strategic multi-task coordination over regular networks of robots with limited computation and communication capabilities

—Coordination is a desirable feature in multi- agent systems, allowing the execution of tasks that would be impossible by individual agents. We study coordination by a team of strategic agents choosing to undertake one of the multiple tasks. We adopt a stochastic framework where the agents decide between two distinct tasks whose difﬁculty is randomly distributed and partially observed. We show that a Nash equilibrium with a simple and intuitive linear structure exists for diffuse prior distributions on the task difﬁculties. Additionally, we show that the best response of any agent to an afﬁne strategy proﬁle can be nonlinear when the prior distribution is not diffuse. Finally, we state an algorithm that allows us to efﬁciently compute a data-driven Nash equilibrium within the class of afﬁne policies.