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Abstract
Multi-agent exploration of unknown environments with limited communication is a rapidly emerging area of research with applications including surveying and robotic rescue. Quantifying different approaches is tricky, with different schemes favouring one parameter of the exploration, such as the total time of exploring 90 % of the environment, at the expense of another parameter, like the rate of information update at a base station. In this paper we present a novel approach to this problem, in which agents choose their actions based on the time preference of the base station for information, which it encodes as the desired minimum ratio of base station utility to total agent utility. We then show that our approach performs competitively with existing exploration algorithms while offering additional flexibility, and holds the promise for much improvement regarding incorporation of various information preferences for the base station.
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Authors and Affiliations
University of Oxford, Oxford, UK
Victor Spirin, Stephen Cameron & Julian de Hoog
- Victor Spirin
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- Stephen Cameron
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- Julian de Hoog
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Correspondence toVictor Spirin.
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Editors and Affiliations
Department of Computer Science, University of Oxford, Oxford, United Kingdom
Ashutosh Natraj
Department of Computer Science, University of Oxford, Oxford, United Kingdom
Stephen Cameron
University of Bristol and the West of En, Bristol, United Kingdom
Chris Melhuish
Imperial College London Department of Electrical and Electronic, London, United Kingdom
Mark Witkowski
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Spirin, V., Cameron, S., de Hoog, J. (2014). Time Preference for Information in Multi-agent Exploration with Limited Communication. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds) Towards Autonomous Robotic Systems. TAROS 2013. Lecture Notes in Computer Science(), vol 8069. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43645-5_5
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