A single peer-to-peer message-passing algorithm based on Gaussian Belief Propagation handles both shape-formation consensus and discrete decision consensus, with claimed scalability over prior swarm methods.
Mean-shift exploration in shape assembly of robot swarms
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DANCeRS: A Distributed Algorithm for Negotiating Consensus in Robot Swarms with Gaussian Belief Propagation
A single peer-to-peer message-passing algorithm based on Gaussian Belief Propagation handles both shape-formation consensus and discrete decision consensus, with claimed scalability over prior swarm methods.