DocumentCode
425201
Title
On the structural complexity of multi-agent robot formations
Author
Muhammad, Abubakr ; Egerstedt, Magnus
Author_Institution
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Volume
6
fYear
2004
fDate
June 30 2004-July 2 2004
Firstpage
4957
Abstract
We present a complexity measure for studying the structural complexity of multi-agent robot formations. We base this measure on the total information flow in the system, which is due to sensory perception and communication among agents. We show that from an information theoretic point of view, perception and communication are fundamentally the same. We show how the information flows depends on different protocols and that the broadcast protocol corresponds to the worst-case complexity for a given formation.
Keywords
computational complexity; graph theory; information theory; multi-agent systems; multi-robot systems; agent communication; broadcast protocol; information flow; information theory; multiagent robot formation; sensory perception; structural complexity; worst case complexity;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2004. Proceedings of the 2004
Conference_Location
Boston, MA, USA
ISSN
0743-1619
Print_ISBN
0-7803-8335-4
Type
conf
Filename
1384635
Link To Document