| Title: |
From Utility-Based Action Selection to the Emergence of Communication Chains in a Multi-Robot System |
| Authors: |
Martin, Erwan; Nongaillard, Antoine; Mathieu, Philippe |
| Contributors: |
Systèmes Multi-Agents et Comportements (SMAC); Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL); Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS); Université de Lille; Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS) |
| Source: |
Proceedings of the 18th International Conference on Agents and Artificial Intelligence (ICAART'2026) ; 18th International Conference on Agents and Artificial Intelligence ; https://hal.science/hal-05560221 ; 18th International Conference on Agents and Artificial Intelligence, Mar 2026, Marbella, France. pp.164-173, ⟨10.5220/0014470900004052⟩ |
| Publisher Information: |
CCSD; SCITEPRESS - Science and Technology Publications |
| Publication Year: |
2026 |
| Collection: |
LillOA (HAL Lille Open Archive, Université de Lille) |
| Subject Terms: |
collective behavior; collective behavior action selection multi-robot system; multi-robot system; action selection; [INFO]Computer Science [cs]; [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA]; [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation; [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] |
| Subject Geographic: |
Marbella; France |
| Description: |
International audience ; In hazardous and large-scale environments, multi-robot systems (MRS) provide an effective alternative to human operation. Nevertheless, maintaining efficient coordination under constrained communication remains a major challenge. This paper introduces an emergent coordination mechanism that enables each robot to make autonomous decisions based on locally acquired knowledge through perception and proximity communications. Unlike existing approaches, our method does not rely on global consensus or environment modification, and demonstrates robustness to communication disturbances. We show that imposing specific constraints leads to the emergence of a communication chain towards a base station, and analyze the influence of various parameters on the dynamics of this phenomenon. |
| Document Type: |
conference object |
| Language: |
English |
| DOI: |
10.5220/0014470900004052 |
| Availability: |
https://hal.science/hal-05560221; https://hal.science/hal-05560221v1/document; https://hal.science/hal-05560221v1/file/ICAART2026___selection_action_chaine_communication_final_.pdf; https://doi.org/10.5220/0014470900004052 |
| Rights: |
https://creativecommons.org/licenses/by-nd/4.0/ ; info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.CF926C75 |
| Database: |
BASE |