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Paper Abstract and Keywords
Presentation 2026-03-02 10:30
Distance-Aware Self-Organizing Area Partitioning for Efficient Multi-Agent Continuous Cleaning
Yuki Kito, Takahiro Uchiya, Yuichiro Tateiwa (NIT) Consen2025-27
Abstract (in Japanese) (See Japanese page) 
(in English) In multi-agent continuous cleaning systems, achieving efficient labor division without explicit communication or centralized control is a significant challenge. This study focuses on "self-organizing territory formation" that emerges during the agents' learning process of environmental loads and analyzes its underlying mechanisms. While self-organizing approaches provide high resilience to dynamic environments, our analysis revealed a structural issue: fragmented territories or enclaves which increase movement costs. To address this, we propose a goal-selection algorithm that incorporates a logarithmic distance cost into the evaluation function, promoting geographical concentration while maintaining flexibility. Simulation results for four different load distributions demonstrated that the proposed method achieves improved cleaning efficiency compared to conventional methods, proving its effectiveness in balancing mobility efficiency with stable area formation.
Keyword (in Japanese) (See Japanese page) 
(in English) Multi-agent continuous cleaning problem / Self-organization / Reinforcement learning / / / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 377, Consen2025-27, pp. 1-7, March 2026.
Paper # Consen2025-27 
Date of Issue 2026-02-23 (Consen) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF Consen2025-27

Conference Information
Committee Consen  
Conference Date 2026-03-02 - 2026-03-03 
Place (in Japanese) (See Japanese page) 
Place (in English) Research Institute of Electrical Communication, Tohoku University 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Co-creative Design and Consensus Design, Disaster Prevention, Multiagent System, etc. 
Paper Information
Registration To Consen 
Conference Code 2026-03-Consen 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Distance-Aware Self-Organizing Area Partitioning for Efficient Multi-Agent Continuous Cleaning 
Sub Title (in English)  
Keyword(1) Multi-agent continuous cleaning problem  
Keyword(2) Self-organization  
Keyword(3) Reinforcement learning  
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1st Author's Name Yuki Kito  
1st Author's Affiliation Nagoya Institute of Technology (NIT)
2nd Author's Name Takahiro Uchiya  
2nd Author's Affiliation Nagoya Institute of Technology (NIT)
3rd Author's Name Yuichiro Tateiwa  
3rd Author's Affiliation Nagoya Institute of Technology (NIT)
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Speaker Author-1 
Date Time 2026-03-02 10:30:00 
Presentation Time 25 minutes 
Registration for Consen 
Paper # Consen2025-27 
Volume (vol) vol.125 
Number (no) no.377 
Page pp.1-7 
#Pages 7 
Date of Issue 2026-02-23 (Consen) 

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