论文标题
当2COM：通过通信图分组的多代理感知
When2com: Multi-Agent Perception via Communication Graph Grouping
论文作者
论文摘要
虽然单一感知已经取得了重大进展，但由于覆盖范围和鲁棒性等收益，许多应用需要多种传感剂和跨代理通信。因此，开发以分布式和带宽有效的方式支持多代理协作感知的框架至关重要。在本文中，我们解决了协作感知问题，其中需要一个代理执行感知任务，并可以就同一任务与其他代理进行通信和共享信息。具体来说，我们通过学习构建沟通组并决定何时交流来提出一个通信框架。我们证明了框架在两种不同的感知任务上的普遍性，并表明它在保持卓越的性能的同时大大降低了通信带宽。
While significant advances have been made for single-agent perception, many applications require multiple sensing agents and cross-agent communication due to benefits such as coverage and robustness. It is therefore critical to develop frameworks which support multi-agent collaborative perception in a distributed and bandwidth-efficient manner. In this paper, we address the collaborative perception problem, where one agent is required to perform a perception task and can communicate and share information with other agents on the same task. Specifically, we propose a communication framework by learning both to construct communication groups and decide when to communicate. We demonstrate the generalizability of our framework on two different perception tasks and show that it significantly reduces communication bandwidth while maintaining superior performance.
