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
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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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