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Max-sum with quadtrees for decentralized coordination in continuous domains

Troullinos Dimitrios, Chalkiadakis Georgios, Samoladas Vasilis, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/55F205A1-CDF1-4473-A219-A1293A98FA2A-
Identifierhttps://doi.org/10.24963/ijcai.2022/74-
Identifierhttps://www.ijcai.org/proceedings/2022/74-
Languageen-
Extent9 pagesen
TitleMax-sum with quadtrees for decentralized coordination in continuous domainsen
CreatorTroullinos Dimitriosen
CreatorΤρουλλινος Δημητριοςel
CreatorChalkiadakis Georgiosen
CreatorΧαλκιαδακης Γεωργιοςel
CreatorSamoladas Vasilisen
CreatorΣαμολαδας Βασιληςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherInternational Joint Conferences on Artificial Intelligenceen
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), 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 ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2023-01-05-
Date of Publication2022-
SubjectCoordination and cooperationen
SubjectMulti-agent planningen
Bibliographic CitationD. 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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