Title :
On the structural complexity of multi-agent robot formations
Author :
Muhammad, Abubakr ; Egerstedt, Magnus
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
June 30 2004-July 2 2004
Abstract :
We present a complexity measure for studying the structural complexity of multi-agent robot formations. We base this measure on the total information flow in the system, which is due to sensory perception and communication among agents. We show that from an information theoretic point of view, perception and communication are fundamentally the same. We show how the information flows depends on different protocols and that the broadcast protocol corresponds to the worst-case complexity for a given formation.
Keywords :
computational complexity; graph theory; information theory; multi-agent systems; multi-robot systems; agent communication; broadcast protocol; information flow; information theory; multiagent robot formation; sensory perception; structural complexity; worst case complexity;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
