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@Techreport{Convoy-Yedidsion,
	author = {Harel Yedidsion and Shani Alkoby and Peter Stone}, 
	title = {Sequential Online Chore Division for Autonomous Vehicle Convoy Formation},
	month = {April},
	year = {2021},
        institution = "arXiv", 
	number = "arXiv e-Prints 2104.04159",
	abstract = {
	Chore division is a class of fair division problems in which some undesirable
"resource" must be shared among a set of participants, with each participant
wanting to get as little as possible. Typically the set of participants is
fixed and known at the outset. This paper introduces a novel variant, called
sequential online chore division (SOCD), in which participants arrive and
depart online, while the chore is being performed: both the total number of
participants and their arrival/departure times are initially unknown. In SOCD,
exactly one agent must be performing the chore at any give time (e.g. keeping
lookout), and switching the performer incurs a cost. In this paper, we propose
and analyze three mechanisms for SOCD: one centralized mechanism using side
payments, and two distributed ones that seek to balance the participants'
loads. Analysis and results are presented in a domain motivated by autonomous
vehicle convoy formation, where the chore is leading the convoy so that all
followers can enjoy reduced wind resistance.
	},
	wwwnote={<a href="http://arxiv.org/abs/2104.04159">arXiv</a>},
}