Swarm Exploration and Communications: A First Step towards Mutually-Aware Integration by Probabilistic Learning

Swarm exploration by multi-agent systems relies on stable inter-agent communication. However, so far both exploration and communication have been mainly considered separately despite their strong inter-dependency in such systems. In this paper, we present the first steps towards a framework that unifies both of these realms by a "tight" integration. We propose to make exploration "communication-aware" and communication "exploration-aware" by using tools of probabilistic learning and semantic communication, thus enabling the coordination of knowledge and action in multi-agent systems. We anticipate that by a "tight" integration of the communication chain, the exploration strategy will balance the inference objective of the swarm with exploration-tailored, i.e., semantic, inter-agent communication. Thus, by such a semantic communication design, communication efficiency in terms of latency, required data rate, energy, and complexity may be improved. With this in mind, the research proposed in this work addresses challenges in the development of future distributed sensing and data processing platforms-sensor networks or mobile robotic swarms consisting of multiple agents-that can collect, communicate, and process spatially distributed sensor data.