Distributed navigation in an unknown physical environment

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations


We address the problem of navigating from an initial node to a goal node by a group of agents in an unknown physical environment. In such environments mobile agents must physically move around to discover the existence of nodes and edges. We assume that agents communicate by exchanging messages about their discoveries, their current locations and their intended plans. We also assume that an agent can only communicate with a predefined set of neighboring agents. A distributed algorithm, which is run independently by each agent, is presented. Given the current knowledge of the agent about the environment and the positions and intentions of other agents, the algorithm instructs the agent where to go next. An experimental evaluation of the algorithm is presented, with constrained and liberal neighborhood schemes. Results show that it is more beneficial to have a constrained neighborhood scheme because with this scheme the distributed intelligent behavior of agents generates a spread of knowledge throughout the environment more efficiently. Agents reach the goal node fast and the length of the path that they find is very close to that of the optimal path.

Original languageEnglish
Title of host publicationProceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems
Number of pages8
StatePublished - 1 Dec 2006
EventFifth International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS - Hakodate, Japan
Duration: 8 May 200612 May 2006

Publication series

NameProceedings of the International Conference on Autonomous Agents


ConferenceFifth International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS


  • Distributed navigation
  • Mobile agents

ASJC Scopus subject areas

  • General Engineering


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