A Relationship between Role Exchange between Agents and Exploration Efficiency on Graph Exploration via Heterogeneous Agents

Abstract

In graph exploration via multi-agent systems, individual agents make decision depending on surroundings environment and state of other agents and achieve the aim of the agent and system. This paper evaluates the relation between the role exchange between agents for deadlock resolution and exploration efficiency. If a communication state is bad, the role exchange may cause disappearance and replication of the role. This paper formulate outbreak condition of the deadlock and let the condition of the disappearance and replication of the consensus condition of role exchange. This paper proposes a communication protocol which used the deadlock condition. The first result is to have enabled the consensus of role exchange not to depend on the communication state. The second result is to show that the disappearance and replication of the role may cause a agglutination state of the exploration system.