Decentralized Time-Varying Formation with Dynamic Leader Selection
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a novel approach to time-varying formation for multi-agent systems for operation in an unknown environment. The time-varying formation uses a leader-follower system with a dynamic leader selection process. Leaders are determined by calculating the center of formation, and determining the position of a predefined goal point relative to the center. By incorporating a distributed protocol in which each agent calculates an estimate of the center based on incomplete information, the agents are able to determine their roles without requiring a central control system. A role negotiation process is developed for resolving edge cases. Two sets of simulations are conducted; the first set showing the capabilities and limitations of the center of formation estimation method, and the second set showcasing a team of robots navigating a series of environments using the proposed time-varying formation algorithm.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it