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International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems

IEA/AIE 2020: Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices pp 533–544Cite as

Consensus-Based Protocol for Distributed Exploration and Mapping

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12144))

Abstract

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.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering and Computer Science, Syracuse University, Syracuse, NY, 13244, USA

    Zilong Jiao & Jae Oh

Authors
  1. Zilong Jiao
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  2. Jae Oh
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Corresponding authors

Correspondence to Zilong Jiao or Jae Oh .

Editor information

Editors and Affiliations

  1. Iwate Prefectural University, Takizawa, Japan

    Hamido Fujita

  2. Harbin Institute of Technology (Shenzhen), Shenzhen, China

    Philippe Fournier-Viger

  3. Texas State University, San Marcos, TX, USA

    Moonis Ali

  4. Iwate Prefectural University, Takizawa, Japan

    Jun Sasaki

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Jiao, Z., Oh, J. (2020). Consensus-Based Protocol for Distributed Exploration and Mapping. In: Fujita, H., Fournier-Viger, P., Ali, M., Sasaki, J. (eds) Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices. IEA/AIE 2020. Lecture Notes in Computer Science(), vol 12144. Springer, Cham. https://doi.org/10.1007/978-3-030-55789-8_46

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  • DOI: https://doi.org/10.1007/978-3-030-55789-8_46

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-55788-1

  • Online ISBN: 978-3-030-55789-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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