Abstract
We examine the scalability of multi-robot algorithms. In particular, we attempt to capture the idea that the less coordination a multi-robot system requires, the better it should scale to large numbers of robots. To that end, we introduce a notion of communication complexity of multi-robot (or more generally, distributed control) systems as a surrogate for coordination. We describe a formalism, called CCL, for specifying multi-robot systems and algorithms for which the definition of communication complexity arises naturally. We then analyze the communication complexity of several, in some cases novel, multi-robot communication schemes each representative of one of several natural complexity classes.
This research is supported in part by the DARPA SEC program under grant number F33615-98-C-3613 and by AFOSR grant number F49620-01-1-0361.
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Klavins, E. (2004). Communication Complexity of Multi-robot Systems. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_17
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DOI: https://doi.org/10.1007/978-3-540-45058-0_17
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