Collective decision making in communication-constrained environments
Collective decision making in communication-constrained environments
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.
cs.RO, cs.MA
Kelly, Thomas G.
6f1f966b-28b8-4d81-a5c1-0adf18fbe225
Soorati, Mohammad Divband
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Zauner, Klaus-Peter
c8b22dbd-10e6-43d8-813b-0766f985cc97
Ramchurn, Sarvapali D.
1d62ae2a-a498-444e-912d-a6082d3aaea3
Tarapore, Danesh
fe8ec8ae-1fad-4726-abef-84b538542ee4
19 July 2022
Kelly, Thomas G.
6f1f966b-28b8-4d81-a5c1-0adf18fbe225
Soorati, Mohammad Divband
35fe6bbb-ce52-4c21-a46e-9bb0e31d246c
Zauner, Klaus-Peter
c8b22dbd-10e6-43d8-813b-0766f985cc97
Ramchurn, Sarvapali D.
1d62ae2a-a498-444e-912d-a6082d3aaea3
Tarapore, Danesh
fe8ec8ae-1fad-4726-abef-84b538542ee4
Kelly, Thomas G., Soorati, Mohammad Divband, Zauner, Klaus-Peter, Ramchurn, Sarvapali D. and Tarapore, Danesh
(2022)
Collective decision making in communication-constrained environments
6pp.
(doi:10.48550/arXiv.2207.09564).
Record type:
Monograph
(Working Paper)
Abstract
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.
Text
Collective Decision Making in Communication-Constrained Environments
- Accepted Manuscript
Text
2207.09564v1
- Accepted Manuscript
More information
Published date: 19 July 2022
Additional Information:
6 pages, 7 figures, accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
Keywords:
cs.RO, cs.MA
Identifiers
Local EPrints ID: 472598
URI: http://eprints.soton.ac.uk/id/eprint/472598
PURE UUID: 8f76afea-72d5-4050-aaef-8188fa25affb
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Date deposited: 09 Dec 2022 17:39
Last modified: 17 Mar 2024 03:57
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Contributors
Author:
Thomas G. Kelly
Author:
Mohammad Divband Soorati
Author:
Klaus-Peter Zauner
Author:
Sarvapali D. Ramchurn
Author:
Danesh Tarapore
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