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Algorithms for distributed exploration

Walker, T., Kudenko, D. and Strens, M.J.A. (2004) Algorithms for distributed exploration. In: López de Mántaras, R. and Saitta, L., (eds.) Proceedings of the Sixteenth European Conference on Artificial Intelligence. ECAI'2004, August 22-27, 2004, Valencia, Spain. IOS Press , pp. 84-88. ISBN 1-58603-452-9

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In this paper we propose algorithms for a set of problems where a distributed team of agents tries to compile a global map of the environment from local observations. We focus on two approaches: one based on behavioural agent technology where agents are pulled (or repelled) by various forces, and another where agents follow a approximate planning approach that is based on dynamic programming. We study these approaches under different conditions, such as different types of environments, varying sensor and communication ranges, and the availability of prior knowledge of the map. The results show that in most cases the simpler behavioural agent teams perform at least as well, if not better, than the teams based on approximate planning and dynamic programming. The research has not only practical implications for distributed exploration tasks, but also for analogous distributed search or optimisation problems.

Item Type: Proceedings Paper
Institution: The University of York
Academic Units: The University of York > Computer Science (York)
Depositing User: York RAE Import
Date Deposited: 20 Mar 2009 16:18
Last Modified: 20 Mar 2009 16:18
Status: Published
Publisher: IOS Press
URI: http://eprints.whiterose.ac.uk/id/eprint/7374

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