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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/10D3BBC6-E56B-4D42-9E79-063E3C6F83DB | ||
| Year | 2022 | ||
| Type of Item | Conference Short Paper | ||
| License |
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| Bibliographic Citation | D. Troullinos, G. Chalkiadakis, V. Samoladas, and M. Papageorgiou, “Max-sum with quadtrees for continuous DCOPs with application to lane-free autonomous driving,” in Proc. 21st Int. Conf. Autonomous Agents and Multiagent Systems (AAMAS '22), pp. 1741–1743, May 2022. | ||
| Appears in Collections |
In this paper we put forward a novel extension of the classic Max-Sum algorithm to the framework of Continuous Distributed Constrained Optimization Problems (Continuous DCOPs), in which we model the exchanged messages by means of a popular geometric algorithm, Quadtrees. As such, the discretization process is dynamic and embedded in the internal Max-Sum operations (addition and marginal maximization). We apply our Max-Sum with Quadtrees approach to Lane-Free Autonomous Driving in a highway populated with vehicles. Our experimental evaluation verifies the efficiency of our approach in this challenging dynamic coordination domain, demonstrating its superior performance with respect to the standard Max-Sum algorithm.
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