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AC-DC: Adaptive Communication for Scalable Dynamic Average Consensus in Multi-Robot Ergodic Search

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

We study scalable peer-to-peer dynamic average consensus (DC) for multi-robot systems under finite-range, finite-rate, and interference-constrained communication. We introduce Adaptive Communication for Dynamic Average Consensus (AC-DC), which jointly adapts Who communicates with whom, When, and over What parts of the consensus state, using local inputs and successfully received neighbor information. Each robot's consensus state estimates the current average of the robots' local inputs. AC-DC updates these estimates as local inputs change and averages the values exchanged between robot pairs.

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