On some communication schemes for distributed pursuit-evasion games

A probabilistic pursuit-evasion game from the literature is used as an example to study constrained communication in multi-robot systems. Communication protocols based on time-triggered and event-triggered synchronization schemes are considered. It is shown that by limiting the communication to events when the probabilistic map updated by the individual pursuer contains new information, as measured through a map entropy, the utilization of the communication link can be considerably improved compared to conventional time-triggered communication.