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

Source: robocup.org 2

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4 Extension of the presentation at ARMS@AAMAS 2015

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• 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 utility proportional to information gain and distance to v • Constraints (5) exponential in number, but model can be solved optimally 9

Communication Method Coordination constraints Optimal Hard Hard Centralized Stump [Stump et al., 2011, ICRA] Hard Centralized (adapted) Rooker [Rooker and Birk, 2007, Control Hard (continuous) Centralized Eng Pract] Utility [Spirin et al., 2013, TAROS] r  0 greedy, r  1 quasi-hard Soft Decentralized r=0.1,0.5,0.9 10

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Office Open Maze 12

Office – instant replan 13

Office – with repl. time (1 step = 2 seconds) 14

Maze – instant replan 15

Optimal Hard Utility 0.5 17

Open – instant replan 18

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