# CIMAX: Collective Information Maximization in Robotic Swarms Using Local Communication

## TL;DR

CIMAX is a decentralized algorithm enabling robotic swarms to collaboratively maximize environmental information collection through local communication, validated in simulations and real underwater robots for detecting oxygen depletion.

## Contribution

The paper introduces CIMAX, a novel decentralized decision-making algorithm for robotic swarms to optimize information gathering without central control.

## Key findings

- CIMAX effectively increases information collection in simulated environments.
- Real robot experiments validate CIMAX's practical applicability.
- The algorithm adapts to environmental changes and misplacements.

## Abstract

Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high spatial resolution of measurements and resilience to failure of individuals in the swarm. However, such robotic swarms might need to be able to compensate misplacement during deployment or adapt to dynamical changes in the environment. Reaching a collective decision in a swarm with limited communication abilities without a central entity serving as decision-maker can be a challenging task. Here we present the CIMAX algorithm for collective decision making for maximizing the information gathered by the swarm as a whole. Agents negotiate based on their individual sensor readings and ultimately make a decision for collectively moving in a particular direction so that the swarm as a whole increases the amount of relevant measurements and thus accessible information. We use both simulation and real robotic experiments for presenting, testing and validating our algorithm. CIMAX is designed to be used in underwater swarm robots for troubleshooting an oxygen depletion phenomenon known as "anoxia".