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Technical University of Crete
Technical University of Crete
EN
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| URI | http://purl.tuc.gr/dl/dias/55F205A1-CDF1-4473-A219-A1293A98FA2A | - |
| Identifier | https://doi.org/10.24963/ijcai.2022/74 | - |
| Identifier | https://www.ijcai.org/proceedings/2022/74 | - |
| Language | en | - |
| Extent | 9 pages | en |
| Title | Max-sum with quadtrees for decentralized coordination in continuous domains | en |
| Creator | Troullinos Dimitrios | en |
| Creator | Τρουλλινος Δημητριος | el |
| Creator | Chalkiadakis Georgios | en |
| Creator | Χαλκιαδακης Γεωργιος | el |
| Creator | Samoladas Vasilis | en |
| Creator | Σαμολαδας Βασιλης | el |
| Creator | Papageorgiou Markos | en |
| Creator | Παπαγεωργιου Μαρκος | el |
| Publisher | International Joint Conferences on Artificial Intelligence | en |
| Content Summary | 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), by utilizing a popular geometric algorithm, namely Quadtrees. In its standard form, Max-Sum can only solve Continuous DCOPs with an a priori discretization procedure. Existing Max-Sum extensions to continuous multiagent coordination domains require additional assumptions regarding the form of the factors, such as access to the gradient, or the ability to model them as continuous piecewise linear functions. Our proposed approach has no such requirements: we model the exchanged messages with Quadtrees, and, as such, the discretization procedure is dynamic and embedded in the internal Max-Sum operations (addition and marginal maximization). We apply Max-Sum with Quadtrees to lane-free autonomous driving. Our experimental evaluation showcases the effectiveness of our approach in this challenging coordination domain. | en |
| Type of Item | Πλήρης Δημοσίευση σε Συνέδριο | el |
| Type of Item | Conference Full Paper | en |
| License | http://creativecommons.org/licenses/by-nc-nd/4.0/ | en |
| Date of Item | 2023-01-05 | - |
| Date of Publication | 2022 | - |
| Subject | Coordination and cooperation | en |
| Subject | Multi-agent planning | en |
| Bibliographic Citation | D. Troullinos, G. Chalkiadakis, V. Samoladas, and M. Papageorgiou, “Max-sum with quadtrees for decentralized coordination in continuous domains,” in Proc. 31st Int. Joint Conf. Artif. Intell. (IJCAI-22), 2022, pp. 518-526, doi: 10.24963/ijcai.2022/74. | en |
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