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Max-sum with quadtrees for continuous DCOPs with application to lane-free autonomous driving

Troullinos Dimitrios, Chalkiadakis Georgios, Samoladas Vasilis, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/10D3BBC6-E56B-4D42-9E79-063E3C6F83DB-
Identifierhttps://dl.acm.org/doi/abs/10.5555/3535850.3536095-
Languageen-
Extent3 pagesen
TitleMax-sum with quadtrees for continuous DCOPs with application to lane-free autonomous drivingen
CreatorTroullinos Dimitriosen
CreatorΤρουλλινος Δημητριοςel
CreatorChalkiadakis Georgiosen
CreatorΧαλκιαδακης Γεωργιοςel
CreatorSamoladas Vasilisen
CreatorΣαμολαδας Βασιληςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherAssociation for Computing Machinery (ACM)en
Content SummaryIn 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.en
Type of ItemΣύντομη Δημοσίευση σε Συνέδριοel
Type of ItemConference Short Paperen
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2022-12-30-
Date of Publication2022-
SubjectDistributed problem solvingen
SubjectMax-sum algorithmen
SubjectQuadtreesen
SubjectFactor graphsen
SubjectAutonomous drivingen
SubjectLane-free trafficen
Bibliographic CitationD. 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.en

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