An Evaluation Model for Information Distribution in Multi-Robot Systems

Information distribution in a multi-robot system is by its nature a complex process. In this work we present a mathematical model able to compare different results of information distribution schemes, taking into account the mission at hand. In order to do that we define how the utility of information introduced by each exchanged message changes throughout a mission. We specify instances of this model for multiple mission scenarios in order to present the model's flexibility. Eventually, we show an example how to apply the model in a simulated UAV mission, for choosing between a reliable channel with higher delays and a more responsive but unreliable one.