Controlling a robot based on an optimized cooperation with other agents

Method for controlling at least one autonomous device, which is at least one of at least two agents that cooperatively perform a common task in a common environment, the method comprising:

• obtaining variables on a current state of each of the at least two agents in the common environment;
• obtaining a further variable on at least one current state of the common environment, wherein the variable describes a distance of the current state of the at least two agents to a common goal state or a current task success;
• determining a quantitative measure for cooperative behaviour of the at least two agents, wherein the quantitative measure quantifies an extent to which a mutual support or an adaption in joint cooperative actions towards the common goal state increases a joint action space of the at least two agents;
• optimizing a joint behaviour of the at least two agents using the determined quantitative measure based on the obtained variables of the current states of the at least two agents and the obtained further variable on the current state of the common environment;
• determining at least one action of the autonomous device based on the optimized joint behaviour;
• and
• outputting a control signal for controlling the determined at least one action.