Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems Article Swipe
Filip Klaesson
,
Petter Nilsson
,
Aaron D. Ames
,
Richard M. Murray
·
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.1109/iccps48487.2020.00031
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.1109/iccps48487.2020.00031
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency to handle situations where the plan is not initially known by all agents, and suggest an integer linear program for synthesizing information-consistent plans that also achieve auxiliary goals. Furthermore, inspired by network flow problems we propose a novel way to pose connectivity constraints that scales much better than previous methods. In the second part of the paper we apply these results in an exploration setting, and propose a clustering method that separates a large exploration problem into smaller problems that can be solved independently. We demonstrate how the resulting exploration algorithm is able to coordinate a team of ten agents to explore a large environment.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- https://doi.org/10.1109/iccps48487.2020.00031
- OA Status
- green
- References
- 22
- Related Works
- 20
- OpenAlex ID
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All OpenAlex metadata
Raw OpenAlex JSON
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https://openalex.org/W2991329513Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/iccps48487.2020.00031Digital Object Identifier
- Title
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Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent SystemsWork title
- Type
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preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2020Year of publication
- Publication date
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2020-04-01Full publication date if available
- Authors
-
Filip Klaesson, Petter Nilsson, Aaron D. Ames, Richard M. MurrayList of authors in order
- Landing page
-
https://doi.org/10.1109/iccps48487.2020.00031Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/1911.08626Direct OA link when available
- Concepts
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Computer science, Consistency (knowledge bases), Cluster analysis, Distributed computing, Plan (archaeology), Robot, Information flow, Integer (computer science), Artificial intelligence, Mathematical optimization, Mathematics, Linguistics, Philosophy, Archaeology, Programming language, HistoryTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- References (count)
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22Number of works referenced by this work
- Related works (count)
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20Other works algorithmically related by OpenAlex
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| primary_location.landing_page_url | https://doi.org/10.1109/iccps48487.2020.00031 |
| publication_date | 2020-04-01 |
| publication_year | 2020 |
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