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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-
Αναγνωριστικόhttps://doi.org/10.24963/ijcai.2022/74-
Αναγνωριστικόhttps://www.ijcai.org/proceedings/2022/74-
Γλώσσαen-
Μέγεθος9 pagesen
ΤίτλοςMax-sum with quadtrees for decentralized coordination in continuous domainsen
ΔημιουργόςTroullinos Dimitriosen
ΔημιουργόςΤρουλλινος Δημητριοςel
ΔημιουργόςChalkiadakis Georgiosen
ΔημιουργόςΧαλκιαδακης Γεωργιοςel
ΔημιουργόςSamoladas Vasilisen
ΔημιουργόςΣαμολαδας Βασιληςel
ΔημιουργόςPapageorgiou Markosen
ΔημιουργόςΠαπαγεωργιου Μαρκοςel
ΕκδότηςInternational Joint Conferences on Artificial Intelligenceen
ΠερίληψηIn 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
ΤύποςΠλήρης Δημοσίευση σε Συνέδριοel
ΤύποςConference Full Paperen
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Ημερομηνία2023-01-05-
Ημερομηνία Δημοσίευσης2022-
Θεματική ΚατηγορίαCoordination and cooperationen
Θεματική ΚατηγορίαMulti-agent planningen
Βιβλιογραφική ΑναφοράD. 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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