Decentralized cooperative communication framework for heterogeneous multi agent system

This paper examines the cooperative communication of multiple agents with no parent-child relation or hierarchy. In this communication framework, the multi agent communication must not be affected by the communication network failure between robots. Under this condition, a new communication framework was proposed which has allowed each agent to share the local information with reliable data delivery using peer to peer networking schemes. In this work, the whale communication call and echolocation concept were applied. The experimental results validated the communication reliability and performance.