Balanced multi-robot exploration through a global optimization strategy
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Título: | Balanced multi-robot exploration through a global optimization strategy |
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Autor/es: | Wu, Ling | Puig Valls, Domenec | García García, Miguel Ángel |
Palabras clave: | Multi-robot exploration | Multi-robot coordination | Waiting time variance | K-Means |
Área/s de conocimiento: | Ciencia de la Computación e Inteligencia Artificial |
Fecha de publicación: | ene-2010 |
Editor: | Red de Agentes Físicos |
Cita bibliográfica: | WU, Ling; PUIG, Domenec; GARCÍA, Miguel Ángel. “Balanced multi-robot exploration through a global optimization strategy”. Journal of Physical Agents. Vol. 4, No. 1 (Jan. 2010). ISSN 1888-0258, pp. 35-44 |
Resumen: | 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. |
Patrocinador/es: | This work has been partially supported by the Spanish Ministry of Education and Science (MEC) under project DPI2007-66556-C03-03. Ling Wu is supported by a FPI scholarship from the Spanish MEC. |
URI: | http://hdl.handle.net/10045/13294 | http://dx.doi.org/10.14198/JoPha.2010.4.1.06 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2010.4.1.06 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Revisión científica: | si |
Aparece en las colecciones: | Journal of Physical Agents - 2010, Vol. 4, No. 1 |
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