Balanced multi-robot exploration through a global optimization strategy
Entity
UAM. Departamento de Tecnología Electrónica y de las ComunicacionesPublisher
Red de Agentes Fisicos (RedAF)Date
2010Citation
Journal of Physical Agents 4.1 (2010): 35-44ISSN
1888-0258Subjects
Multi-robot exploration; Multi-robot coordination; Waiting time variance; K-Means; Informática; TelecomunicacionesEsta obra está bajo una licencia de Creative Commons Reconocimiento-CompartirIgual 4.0 Internacional.
Abstract
This paper reviews the state of the art in
coordinated multi-robot exploration and proposes a new
exploration objective based on a practical scenery, reducing the
difference of waiting time among different regions of a
workspace, which has not been still considered in the literature.
A new global optimization strategy for coordinated multi-robot
exploration based on a proper dispersion of robots in separate
regions is presented. This strategy aims at achieving the lowest
variance of regional waiting time and the lowest variance of
regional exploration percentage. Both features reveal that the
proposed strategy performs better than other state of the art
approaches.
Files in this item
Google Scholar:Wu, Ling
-
Puig, Domenec
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García García, Miguel Ángel
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