Multi-agent physical A* using large pheromones Conference Paper uri icon


  • This paper introduces the notion of large pheromones as a model of communication and global knowledge sharing in multi-agent systems. With pheromones, agents communicate by writing and reading data at the nodes of the graph that constitutes their environment [2]. Unlike ordinary pheromones where only a limited amount of data can be written in each node, in the large pheromones model, there is no restriction on the amount of data that can be written in the the nodes and thus each agent can write its entire knowledge in a node. We apply this model of communication to the multi-agent physical A* algorithm (MAPHA*) which is the multi agent version of Physical-A*(PHA*)[1]. These algorithms modify the A* algorithm to find shortest paths in physical environments with mobile agents that move around the environment and explore unknown territories. These algorithms are designed to minimize …

publication date

  • January 1, 2004