Emergence of Consensus in a Multi-Robot Network: from Abstract Models to Empirical Validation

TL;DR

This paper explores how the naming game consensus model behaves when implemented on kilobot robots, considering real-world constraints like physical interference and mobility, and analyzes how these factors influence consensus dynamics.

Contribution

It provides the first empirical validation of the naming game on a physical robotic platform, highlighting the impact of physical interferences and robot density on consensus formation.

Findings

Physical interference reduces mobility benefits for consensus time.

Higher robot density affects communication network evolution.

Mobility decreases with interference, impacting consensus speed.

Abstract

Consensus dynamics in decentralised multiagent systems are subject to intense studies, and several different models have been proposed and analysed. Among these, the naming game stands out for its simplicity and applicability to a wide range of phenomena and applications, from semiotics to engineering. Despite the wide range of studies available, the implementation of theoretical models in real distributed systems is not always straightforward, as the physical platform imposes several constraints that may have a bearing on the consensus dynamics. In this paper, we investigate the effects of an implementation of the naming game for the kilobot robotic platform, in which we consider concurrent execution of games and physical interferences. Consensus dynamics are analysed in the light of the continuously evolving communication network created by the robots, highlighting how the different regimes crucially depend on the robot density and on their ability to spread widely in the experimental arena. We find that physical interferences reduce the benefits resulting from robot mobility in terms of consensus time, but also result in lower cognitive load for individual agents.