Multi-agent Task-Driven Exploration via Intelligent Map Compression and Sharing Article Swipe

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Evangelos Psomiadis , Dilip Kumar Maity , Panagiotis Tsiotras ·

YOU? · · 2024 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2403.14780

This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach its goal location. We propose a novel communication framework and a tractable multi-agent exploration algorithm to select the sensors' actions. The algorithm uses a task-driven measure of uncertainty, resulting from map compression, as a reward function. We validate the efficacy of our algorithm through numerical simulations conducted on a realistic map and compare it with alternative approaches. The results indicate that the proposed algorithm effectively decreases the time required for the robot to reach its target without causing excessive load on the communication network.

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Task (project management) Computer science Compression (physics) Systems engineering Engineering Materials science Composite material

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Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2403.14780
PDF: https://arxiv.org/pdf/2403.14780
OA Status: green
Related Works: 10
OpenAlex ID: https://openalex.org/W4393177898

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OpenAlex ID: https://openalex.org/W4393177898

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DOI: https://doi.org/10.48550/arxiv.2403.14780

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Title: Multi-agent Task-Driven Exploration via Intelligent Map Compression and Sharing

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Type: preprint

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Language: en

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Publication year: 2024

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Publication date: 2024-03-21

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Authors: Evangelos Psomiadis, Dilip Kumar Maity, Panagiotis Tsiotras

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Landing page: https://arxiv.org/abs/2403.14780

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PDF URL: https://arxiv.org/pdf/2403.14780

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Open access: Yes

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OA status: green

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OA URL: https://arxiv.org/pdf/2403.14780

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Concepts: Task (project management), Computer science, Compression (physics), Systems engineering, Engineering, Materials science, Composite material

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Cited by: 0

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Related works (count): 10

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