English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

This paper addresses a density-aware multi-agent exploration problem based on an Optimal Transport (OT) theory while considering energy constraints of a multi-agent system. The density-aware exploration means how a team of agents (robots) cover a given domain, reflecting a priority of areas of interest represented by a density distribution, rather than simply following a preset of uniform patterns. To achieve the density-aware multi-agent exploration, the optimal transport theory that quantifies a distance between two density distributions is employed as a tool, which also serves as a means of similarity measure. Energy constraints for a multi-agent system are then incorporated into the OT-based density-aware multi-agent exploration scheme. The proposed method is developed targeting a decentralised control to cope with more realistic scenarios such as communication range limits between agents. To measure the exploration efficiency, the upper bound of the similarity measure is proposed, which is computationally tractable. The developed multi-agent exploration scheme is applicable to a time-varying distribution as well, where a spatio-temporal evolution of the given reference distribution is desired. To validate the proposed method, multiple simulation results are provided.

Density-aware decentralised multi-agent exploration with energy constraint based on optimal transport theory