Simon Jones and Sabine Hauert, Gaussian Belief Propagation for Distributed Swarm Sensing, in ICRA2023 - Workshop on Distrbuted Graph Algorithms for Robotics.
Abstract: Gaussian Belief Propagation (GBP) shows great potential as a general distributed knowledge inference algorithm for use within swarms of robots. Individual robots build local factor graphs describing the environment, continually running GBP within their fragment to infer state. Robots coming within communication range of each other exchange information that connects these graph fragments and widens perception of each agent. The swarm in total holds an adaptive distributed situational awareness of the environment.
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