Consensus-based protocol for distributed exploration and mapping

Zilong Jiao, Jae Oh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Distributed exploration in multi-agent systems requires agents to retain a consistent view of the environment, even under limited communication ranges. We propose a consensus-based protocol for distributed exploration that enables agents to synchronize their local maps so that their collective global views are consistent. With the proposed protocol, agents can dynamically form communication networks and synchronize their local environment maps. In contrast to the existing consensus-based solutions, our work is computationally efficient and provides a convergence guarantee under communication loss. Through our extensive experiments, we show that the proposed protocol enables agents to build consistent environment maps collaboratively and efficiently. We also show that agents can significantly save their communication bandwidth and reach optimal solutions in the presence of communication loss.

Original languageEnglish (US)
Title of host publicationTrends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices - 33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020, Proceedings
EditorsHamido Fujita, Jun Sasaki, Philippe Fournier-Viger, Moonis Ali
PublisherSpringer Science and Business Media Deutschland GmbH
Pages533-544
Number of pages12
ISBN (Print)9783030557881
DOIs
StatePublished - 2020
Event33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020 - Kitakyushu, Japan
Duration: Sep 22 2020Sep 25 2020

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12144 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020
CountryJapan
CityKitakyushu
Period9/22/209/25/20

Keywords

  • Collaborative mapping
  • Consensus-based protocol
  • Distributed exploration
  • Multi-agent systems

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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