Fast multipole networks

04/09/2019

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by   Steve Huntsman, et al.

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Two fundamental prerequisites for robotic multiagent systems are mobility and communication. We propose fast multipole networks (FMNs) to achieve both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer favorable communication performance in addition to their intrinsic advantages for mobility.