# Fast multipole networks

## TL;DR

Fast multipole networks (FMNs) provide an efficient, unified framework for mobility and communication in multiagent robotic systems, outperforming conventional topologies in efficiency and mobility support.

## Contribution

This paper introduces FMNs as a novel approach that unifies mobility and communication, with a distributed organization from local information and advantages over traditional topologies.

## Key findings

- FMNs offer higher network efficiency per edge
- FMNs enable effective motion planning with artificial potentials
- FMNs are competitive in communication performance

## Abstract

Two prerequisites for robotic multiagent systems are mobility and communication. Fast multipole networks (FMNs) enable both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer competitive communication performance (including higher network efficiency per edge at marginal energy cost) in addition to advantages for mobility.