2 3 4 Extension of the presentation at ARMS@AAMAS 2015 5 6 7 8 - - PowerPoint PPT Presentation

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Nov 16, 2022 210 likes •408 views

Source: robocup.org 2 3 4 Extension of the presentation at ARMS@AAMAS 2015 5 6 7 8 Compute new deployment t 1 t 1 on graph G ( V , C ) iff agent a in vertex v, z 1 av in this case collect

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Source: robocup.org

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4 Extension of the presentation at ARMS@AAMAS 2015

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Compute new deployment
n graph
iff agent a in vertex v,

in this case collect utility proportional to information gain and distance to v

Constraints (5) exponential

in number, but model can be solved optimally

1 

av

z ) , (

1 1  



t t

C V G

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Method Communication constraints Coordination Optimal Hard Hard Centralized Stump [Stump et al., 2011, ICRA] (adapted) Hard Centralized Rooker [Rooker and Birk, 2007, Control Eng Pract] Hard (continuous) Centralized Utility [Spirin et al., 2013, TAROS] r  0 greedy, r  1 quasi-hard r=0.1,0.5,0.9 Soft Decentralized

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Office Maze Open

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Office – instant replan

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Office – with repl. time (1 step = 2 seconds)

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Maze – instant replan

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Optimal Hard Utility 0.5

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Open – instant replan

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