Inspection Planning in the Polygonal Domain by Self-Organizing Map

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00183663" target="_blank" >RIV/68407700:21230/11:00183663 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.sciencedirect.com/science/article/pii/S1568494611002158" target="_blank" >http://www.sciencedirect.com/science/article/pii/S1568494611002158</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.asoc.2011.05.055" target="_blank" >10.1016/j.asoc.2011.05.055</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Inspection Planning in the Polygonal Domain by Self-Organizing Map

Popis výsledku v původním jazyce

Inspection planning is a problem of finding a (closed) shortest path from which a robot "sees" the whole workspace. The problem is closely related to the Traveling Salesman Problem (TSP) if the discrete sensing is performed only at the finite number of sensing locations. For the continuous sensing, the problem can be formulated as the Watchman Route Problem (WRP), which is known to be NP-hard for the polygonal representation of the robot workspace. Although several Self-Organizing Map (SOM) approaches have been proposed for the TSP, they are strictly focused to the Euclidean TSP, which is not the case of the inspection path planning in the polygonal domain. In this paper, a novel SOM adaptation schema is proposed to address both variants of the inspection planning with discrete and continuous sensing in the polygonal domain. The schema is compared with the state of the art SOM schema for the TSP in a set of multi-goal path planning problems and WRPs.

Název v anglickém jazyce

Inspection Planning in the Polygonal Domain by Self-Organizing Map

Popis výsledku anglicky

Inspection planning is a problem of finding a (closed) shortest path from which a robot "sees" the whole workspace. The problem is closely related to the Traveling Salesman Problem (TSP) if the discrete sensing is performed only at the finite number of sensing locations. For the continuous sensing, the problem can be formulated as the Watchman Route Problem (WRP), which is known to be NP-hard for the polygonal representation of the robot workspace. Although several Self-Organizing Map (SOM) approaches have been proposed for the TSP, they are strictly focused to the Euclidean TSP, which is not the case of the inspection path planning in the polygonal domain. In this paper, a novel SOM adaptation schema is proposed to address both variants of the inspection planning with discrete and continuous sensing in the polygonal domain. The schema is compared with the state of the art SOM schema for the TSP in a set of multi-goal path planning problems and WRPs.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2011

Kód důvěrnosti údajů

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

Název periodika

Applied Soft Computing

ISSN

1568-4946

e-ISSN

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Svazek periodika

11

Číslo periodika v rámci svazku

8

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

14

Strana od-do

5028-5041

Kód UT WoS článku

000296539700057

EID výsledku v databázi Scopus

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