TY - GEN
T1 - Consensus-based protocol for distributed exploration and mapping
AU - Jiao, Zilong
AU - Oh, Jae
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2020.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
KW - Collaborative mapping
KW - Consensus-based protocol
KW - Distributed exploration
KW - Multi-agent systems
UR - http://www.scopus.com/inward/record.url?scp=85091302230&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85091302230&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-55789-8_46
DO - 10.1007/978-3-030-55789-8_46
M3 - Conference contribution
AN - SCOPUS:85091302230
SN - 9783030557881
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 533
EP - 544
BT - Trends 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
A2 - Fujita, Hamido
A2 - Sasaki, Jun
A2 - Fournier-Viger, Philippe
A2 - Ali, Moonis
PB - Springer Science and Business Media Deutschland GmbH
T2 - 33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020
Y2 - 22 September 2020 through 25 September 2020
ER -