Geodesic
Modelling of a communication system of agents moving through terrain with obstacles
Čelâbinskij fiziko-matematičeskij žurnal, Tome 3 (2018) no. 2, pp. 237-248.

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The article proposes the modeling of the communication system of moving agents using interconnected two-dimensioned cellular automata that operate at different discrete times. One of the automata simulates the movement of variously organized groups of agents in the terrain with obstacles of different heights and passabilities on it. Agents tend to move in the shortest possible time, trying, at the same time, to maintain the formation, and, possibly, they have additional goals. The second automaton models the communication system of agents from the first automaton. Agents in the communication system model are communication equipment of agents from the motion model. In this cellular automaton, a column of cells corresponds to a communication channel, and every cell has parameters corresponding to the quality of the channel. We use the software environment "Psychohod" to simulate the above-mentioned automata. To organize the interaction of motion and communication models, we start two instances of the process of the "Psychohod" software. The data exchange between these processes occurs via the shared memory QSharedMemory. We demonstrate the application of the proposed model to determine the nearly linear dependence of the average number of communication breaks on the number of obstacles with the assumption that the communication requires the direct visibility of agents.
Keywords: autonomous agents, cellular automaton, motion model, communication system model. 
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A. V. Kuznetsov. Modelling of a communication system of agents moving through terrain with obstacles. Čelâbinskij fiziko-matematičeskij žurnal, Tome 3 (2018) no. 2, pp. 237-248. http://geodesic.mathdoc.fr/item/CHFMJ_2018_3_2_a9/

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