cs.ROApr 29, 2026

Split over n resource sharing problem: Are fewer capable agents better than many simpler ones?

Authors: Karthik SomaMohamed S. TalamaliGenki MiyauchiGiovanni BeltrameHeiko HamannRoderich Gross

Abstract

In multi-agent systems, should limited resources be concentrated into a few capable agents or distributed among many simpler ones? This work formulates the split over nn resource sharing problem where a group of nn agents equally shares a common resource (e.g., monetary budget, computational resources, physical size). We present a case study in multi-agent coverage where the area of the disk-shaped footprint of agents scales as 1/n1/n. A formal analysis reveals that the initial coverage rate grows with nn. However, if the speed of agents decreases proportionally with their radii, groups of all sizes perform equally well, whereas if it decreases proportionally with their footprints, a single agent performs best. We also present computer simulations in which resource splitting increases the failure rates of individual agents. The models and findings help identify optimal distributiveness levels and inform the design of multi-agent systems under resource constraints.

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