“…Not surprisingly, the optimization problem of partitioning agents into coalitions so as to maximize the social welfare is a major research challenge in AI and it has been extensively investigated in the field of multi-agent systems under the name of Coalition Structure Generation (CSG). Several works characterize the computational complexity of finding optimal solutions, providing efficient algorithms, hardness results and suitable approximations under different assumptions or variants of the problem (Aziz & de Keijzer, 2011;Bachrach, Kohli, Kolmogorov, & Zadimoghaddam, 2013;Bansal, Blum, & Chawla, 2004;Deng & Papadimitriou, 1994;Ohta, Conitzer, Ichimura, Sakurai, Iwasaki, & Yokoo, 2009;Rahwan, Michalak, Wooldridge, & Jennings, 2012;Ueda, Iwasaki, Yokoo, Silaghi, Hirayama, & Matsui, 2010;Voice, Polukarov, & Jennings, 2012). A recent survey of the different approaches in this setting is also available (Rahwan, Michalak, Wooldridge, & Jennings, 2015).…”