分散協調制御システムに基づく迷路探索問題における通信手段と探索効率の関係

抄録

In cooperative maze exploration via multi-agent systems, deadlock resolution methods influence exploration efficiency. This paper evaluates the relation between communication protocols and exploration efficiency. This paper proposes three communication protocols for deadlock resolution on maze exploration via distributed collaborative control system considering communicable range of agents. The agents share different information depending on the communication protocols for deadlock resolution. The transmission route of the information is affected by the communication protocols for deadlock resolution. The first result is to show a relationship between communicable range and performance of deadlock detection and communication load as the characteristics of each proposed communication protocols. The second result is to derive the relation between flow quantity and density for some network structure. Using the two results we evaluate influence of communication protocols on exploration efficiency.