Goal Assignment using Distance Cost in Multi-Robot Exploration
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00196350" target="_blank" >RIV/68407700:21230/12:00196350 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/IROS.2012.6385660" target="_blank" >http://dx.doi.org/10.1109/IROS.2012.6385660</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2012.6385660" target="_blank" >10.1109/IROS.2012.6385660</a>
Alternative languages
Result language
angličtina
Original language name
Goal Assignment using Distance Cost in Multi-Robot Exploration
Original language description
In this paper, we discuss the problem of goal assignment in the multi-robot exploration task. The presented work is focused on the underlying optimal assignment problem of the multi-robot task allocation that is addressed by three state-of-the art approaches. In addition, we propose a novel exploration strategy considering allocation of all current goals (not only immediate goal) for each robot, which leads to the multiple traveling salesman problem formulation. Although the problem is strongly NP-hard,we show its approximate solution is computationally feasible and its overall requirements are competitive to the previous approaches. The proposed approach and three well-known approaches are compared in series of problems considering various numbers ofrobots and sensor ranges. Based on the evaluation of the results the proposed exploration strategy provides shorter exploration times than the former approaches.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
ISBN
978-1-4673-1735-1
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
3741-3746
Publisher name
IEEE
Place of publication
Piscataway
Event location
Vilamoura, Algarve
Event date
Oct 7, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000317042704046