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A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F17%3A00310258" target="_blank" >RIV/68407700:21730/17:00310258 - isvavai.cz</a>

  • Result on the web

    <a href="http://www.sciencedirect.com/science/article/pii/S0305054816300995" target="_blank" >http://www.sciencedirect.com/science/article/pii/S0305054816300995</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1016/j.cor.2016.04.029" target="_blank" >10.1016/j.cor.2016.04.029</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

  • Original language description

    The single-robot search problem in an unknown environment is defined as the problem of finding a stationary object in the environment whose map is not known a priori. Compared to exploration, the only difference lies in goal selection as the objectives of search and exploration are dissimilar, i.e. a trajectory that is optimal in exploration does not necessarily minimize the expected value of the time to find an object along it. For this reason, in this paper we extend the preliminary ideas presented in Kulich et al. [1] to a general framework that accounts for the particular characteristics of the search problem. Within this framework, an important decision involved in the determination of the trajectory can be formulated as an instance of the Graph Search Problem (GSP), a generalization of the well-known Traveling Deliveryman Problem (TDP) which has not received much attention in the literature. We developed a tailored Greedy Randomized Adaptive Search Procedure (GRASP) meta-heuristic for the GSP, which generates good quality solutions in very short computing times and is incorporated in the overall framework. The proposed approach produces very good results in a simulation environment, showing that it is feasible from a computational standpoint and the proposed strategy outperforms the standard approaches.

  • Czech name

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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

    2017

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Name of the periodical

    Computers & Operations Research

  • ISSN

    0305-0548

  • e-ISSN

    1873-765X

  • Volume of the periodical

    84

  • Issue of the periodical within the volume

    August

  • Country of publishing house

    US - UNITED STATES

  • Number of pages

    10

  • Pages from-to

    178-187

  • UT code for WoS article

    000401392300014

  • EID of the result in the Scopus database

    2-s2.0-84975513452