تقرير
Collective Decision Making in Communication-Constrained Environments
| العنوان: | Collective Decision Making in Communication-Constrained Environments |
|---|---|
| المؤلفون: | Kelly, Thomas G., Soorati, Mohammad Divband, Zauner, Klaus-Peter, Ramchurn, Sarvapali D., Tarapore, Danesh |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | Computer Science - Robotics, Computer Science - Multiagent Systems |
| الوصف: | One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents that may not be always available in a real world environment. In this paper we introduce the communication-constrained collective decision-making problem where some areas of the environment limit the agents' ability to communicate, either by reducing success rate or blocking the communication channels. We propose a decentralised algorithm for mapping environmental features for robot swarms as well as improving collective decision making in communication-limited environments without prior knowledge of the communication landscape. Our results show that making a collective aware of the communication environment can improve the speed of convergence in the presence of communication limitations, at least 3 times faster, without sacrificing accuracy. Comment: 6 pages, 7 figures, accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2207.09564 |
| رقم الأكسشن: | edsarx.2207.09564 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |