Goal Assignment using Distance Cost in Multi-Robot Exploration

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00196350" target="_blank" >RIV/68407700:21230/12:00196350 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/IROS.2012.6385660" target="_blank" >http://dx.doi.org/10.1109/IROS.2012.6385660</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS.2012.6385660" target="_blank" >10.1109/IROS.2012.6385660</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Goal Assignment using Distance Cost in Multi-Robot Exploration

Popis výsledku v původním jazyce

In this paper, we discuss the problem of goal assignment in the multi-robot exploration task. The presented work is focused on the underlying optimal assignment problem of the multi-robot task allocation that is addressed by three state-of-the art approaches. In addition, we propose a novel exploration strategy considering allocation of all current goals (not only immediate goal) for each robot, which leads to the multiple traveling salesman problem formulation. Although the problem is strongly NP-hard,we show its approximate solution is computationally feasible and its overall requirements are competitive to the previous approaches. The proposed approach and three well-known approaches are compared in series of problems considering various numbers ofrobots and sensor ranges. Based on the evaluation of the results the proposed exploration strategy provides shorter exploration times than the former approaches.

Název v anglickém jazyce

Goal Assignment using Distance Cost in Multi-Robot Exploration

Popis výsledku anglicky

In this paper, we discuss the problem of goal assignment in the multi-robot exploration task. The presented work is focused on the underlying optimal assignment problem of the multi-robot task allocation that is addressed by three state-of-the art approaches. In addition, we propose a novel exploration strategy considering allocation of all current goals (not only immediate goal) for each robot, which leads to the multiple traveling salesman problem formulation. Although the problem is strongly NP-hard,we show its approximate solution is computationally feasible and its overall requirements are competitive to the previous approaches. The proposed approach and three well-known approaches are compared in series of problems considering various numbers ofrobots and sensor ranges. Based on the evaluation of the results the proposed exploration strategy provides shorter exploration times than the former approaches.

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

—

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

2012

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

ISBN

978-1-4673-1735-1

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

3741-3746

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Vilamoura, Algarve

Datum konání akce

7. 10. 2012

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000317042704046