Adaptive Coverage Algorithms for Mobile Ad Hoc Networks in Dynamic Worlds
Adaptive Coverage Algorithms for Mobile Ad Hoc Networks in Dynamic Worlds
This paper extends a framework for coordinating mobile agents in unknown worlds to account for dynamic instability. The study addresses the Partially Observable Cooperative Guard Art Gallery Problem (POCGAGP) by introducing a dynamic case (DPOCGAGP) that considers agent loss and world changes. Advancements are presented for two algorithms, Centralized Agent-Directed Exploration for Network Coverage (CADENCE) and its decentralized analogue DADENCE. Their performance is compared against another state-of-the-art benchmark algorithm, showing that the adapted algorithms outperform across a benchmark test set comprising over 4500 test cases of varied size and structure.
The authors extend a prior framework for multi-agent coverage to handle dynamic instability, specifically agent loss and world changes, demonstrating improved performance over benchmarks across more than 4500 test cases.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org