An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments

Autor: Eduardo Grampin, Facundo Benavides, Caroline Ponzoni Carvalho Chanel, Pablo Monzon
Přispěvatelé: Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE), Universidad de la República - UdelaR (URUGUAY), Département Conception et conduite des véhicules Aéronautiques et Spatiaux - DCAS (Toulouse, France), Benavides Facundo, Ponzoni Carvalho Chanel Caroline, Monzón Pablo, Grampín Eduardo
Rok vydání: 2019
Předmět:
0209 industrial biotechnology
Computer science
Distributed computing
02 engineering and technology
Exploration problem
Exploration missions
lcsh:Technology
Constrained-communication environments
lcsh:Chemistry
cooperative systems
020901 industrial engineering & automation
Robustness (computer science)
Multi robot coordinated systems
0202 electrical engineering
electronic engineering
information engineering
Wireless
General Materials Science
Constrained communication environments
lcsh:QH301-705.5
Instrumentation
Fluid Flow and Transfer Processes
Flexibility (engineering)
lcsh:T
business.industry
Process Chemistry and Technology
Neurosciences
General Engineering
Robotics
exploration missions
lcsh:QC1-999
Cooperative systems
Computer Science Applications
constrained-communication environments
lcsh:Biology (General)
lcsh:QD1-999
lcsh:TA1-2040
Multi-robot coordinated systems
Robot
020201 artificial intelligence & image processing
Disconnection
Artificial intelligence
lcsh:Engineering (General). Civil engineering (General)
business
lcsh:Physics
multi-robot coordinated systems
Zdroj: Applied Sciences
Volume 9
Issue 3
COLIBRI
Universidad de la República
instacron:Universidad de la República
Applied Sciences, Vol 9, Iss 3, p 573 (2019)
ISSN: 2076-3417
DOI: 10.3390/app9030573
Popis: The exploration problem is a fundamental subject in autonomous mobile robotics that deals with achieving the complete coverage of a previously unknown environment. There are several scenarios where completing exploration of a zone is a main part of the mission. Due to the efficiency and robustness brought by multi-robot systems, exploration is usually done cooperatively. Wireless communication plays an important role in collaborative multi-robot strategies. Unfortunately, the assumption of stable communication and end-to-end connectivity may be easily compromised in real scenarios. In this paper, a novel auto-adaptive multi-objective strategy is followed to support the selection of tasks regarding both exploration performance and connectivity level. Compared with others, the proposed approach shows effectiveness and flexibility to tackle the multi-robot exploration problem, being capable of decreasing the last of disconnection periods without noticeable degradation of the completion exploration time.
Databáze: OpenAIRE
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