The paper presents a new hierarchical architecture for modeling autonomous multi-robot systems. The approach uses a nonlinear dynamical opinion process for high-level group choice and multi-objective behavior optimization for individual decisions. This approach is decentralized and scales by the number of group options, not agents. The architecture’s effectiveness was demonstrated in a field experiment with eight unmanned surface vessels. The results show robust collective behavior even with time-varying network topology and agent dropouts.
Publication date: 21 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.11144
