Max-sum with quadtrees for continuous DCOPs with application to lane-free autonomous drivingMax-sum with quadtrees for continuous DCOPs with application to lane-free autonomous driving Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2024-12-192022enIn 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.The research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid.http://creativecommons.org/licenses/by/4.0/1741–174321st International Conference on Autonomous Agents and Multiagent SystemsProceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems Troullinos Dimitrios Τρουλλινος Δημητριος Chalkiadakis Georgios Χαλκιαδακης Γεωργιος Samoladas Vasilis Σαμολαδας Βασιλης Papageorgiou Markos Παπαγεωργιου Μαρκος Association for Computing Machinery (ACM) Distributed problem solving Max-sum algorithm Quadtrees Factor graphs Autonomous driving Lane-free traffic