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Unifying multi-goal path planning for autonomous data collection

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00225362" target="_blank" >RIV/68407700:21230/14:00225362 - isvavai.cz</a>

  • Result on the web

    <a href="http://dx.doi.org/10.1109/IROS.2014.6942967" target="_blank" >http://dx.doi.org/10.1109/IROS.2014.6942967</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/IROS.2014.6942967" target="_blank" >10.1109/IROS.2014.6942967</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Unifying multi-goal path planning for autonomous data collection

  • Original language description

    In this paper, we propose a framework for solving variants of the multi-goal path planning problem with applications to autonomous data collection. Autonomous data collection requires optimizing the trajectory of a mobile vehicle to collect data from a number of stationary sensors in a known configuration. The proposed approach utilizes the self-organizing map (SOM) architecture to provide a unified solution to multi-goal path planning problems. Our approach applies to cases where the vehicle must movewithin a radius of a sensor to collect data and also where some sensors can be ignored due to a lower priority. We compare our proposed approach to state-of-the-art approximate solutions to variants of the Traveling Salesman Problem (TSP) for random deployments and in an underwater monitoring application domain. Our results demonstrate that the SOM approach outperforms combinatorial heuristic algorithms and also provides a unified approach for solving variants of the multi-goal path plan

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JC - Computer hardware and software

  • OECD FORD branch

Result continuities

  • Project

    <a href="/en/project/GP13-18316P" target="_blank" >GP13-18316P: Self-Organizing Maps for Multi-Goal Path Planning Tasks</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2014

  • 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 IEEE/RSJ International Conference on Intelligent Robots and Systems

  • ISBN

    978-1-4799-6934-0

  • ISSN

    2153-0858

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    2937-2942

  • Publisher name

    IEEE

  • Place of publication

    Piscataway

  • Event location

    Chicago

  • Event date

    Sep 14, 2014

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article