Communication reduction with risk estimate for multiple robotic system

This paper deals with a criterion to reduce excessive communication in the Cellular Robotic System (CEBOT). While communication plays a significant role in acquiring necessary information for the decision making, we should consider its cost especially in a case that a large number of agents are involved. Therefore, we attempt to achieve the "intelligent communication" that is defined as accumulation of knowledge bringing higher performance and less frequency in the robot communication. For acquiring information through the communication, a probability model is constructed. The decision is presumed based on the model but the risk for that is evaluated as to whether the communication is negligible. We show that there exists correlation between accuracy of the estimate model and communication necessity.<>