Comparison of Task-Allocation Algorithms in Frontier-Based 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%2F15%3A00237220" target="_blank" >RIV/68407700:21230/15:00237220 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-17130-2_7" target="_blank" >http://dx.doi.org/10.1007/978-3-319-17130-2_7</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-17130-2_7" target="_blank" >10.1007/978-3-319-17130-2_7</a>
Alternative languages
Result language
angličtina
Original language name
Comparison of Task-Allocation Algorithms in Frontier-Based Multi-robot Exploration
Original language description
In this paper, we address the problem of efficient allocation of the navigational goals in the multi-robot exploration of unknown environment. Goal candidate locations are repeatedly determined during the exploration. Then, the assignment of the candidates to the robots is solved as the task-allocation problem. A more frequent decision-making may improve performance of the exploration, but in a practical deployment of the exploration strategies, the frequency depends on the computational complexity of the task-allocation algorithm and available computational resources. Therefore, we propose an evaluation framework to study exploration strategies independently on the available computational resources and we report a comparison of the selected task-allocation algorithms deployed in multi-robot exploration.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
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
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Multi-Agent Systems: 12th European Conference on Multi-Agent Systems
ISBN
978-3-319-17129-6
ISSN
0302-9743
e-ISSN
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Number of pages
10
Pages from-to
101-110
Publisher name
Springer
Place of publication
Heidelberg
Event location
Prague
Event date
Dec 18, 2014
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000361976600007