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We propose a method for providing communication network infrastructure inautonomous multi-agent teams. In particular, we consider a set of communicationagents that are placed alongside regular agents from the system in order toimprove the rate of information transfer between the latter. In order to findthe optimal positions to place such agents, we define a flexible performancefunction that adapts to network requirements for different systems. We providean algorithm based on shadow prices of a related convex optimization problem inorder to drive the configuration of the complete system towards a localmaximum. We apply our method to three different performance functionsassociated with three practical scenarios in which we show both the performanceof the algorithm and the flexibility it allows for optimizing different networkrequirements.

Navigation with shadow prices to optimize multi-commodity flow rates