摘要：Agent teaming and autonomy are foundational themes in multi-agent systems. Agents may work as singletons or they may work in environments where other agents exist. In multi-agent systems, agents may form teams by sharing common goals with other agents. Cooperation is essential for any collaborative, group activity. Beyond coordination and judicious role assignment, cooperation enables members of a team to be aware and account for collection of their goals as well as the performance of agents on individual goals. This paper presents a general model of cooperation and illustrates how it may enhance group performance. In this paper, we present results of an application of the concept of cooperation in a simulated swarm of reconnaissance urban UAVs that are tracking vehicles in an urban environment.
