Name
Abstract | ||
|---|---|---|
This paper faces the problem of optimizing the wiring and the connections in a tactile skin for robots. The robotic skin is a device composed of a network of tactile sensors, whose wiring can be very complex: the control of this complexity is a key problem. In the considered robotic skin, skin elements are grouped into skin patches, which output tactile data that have to be read by a micro-controller. The logical connections between the sensors must be defined in order to route signals through the network. A finite set of micro-controllers is given and a set of constraints is imposed on the given assignment and routing. The considered problem has a combinatorial nature and it can be formulated as a Minimum Constrained Spanning Forest problem with costs on arcs that cannot be a priori defined as they are solution-dependent. The problem is NP-hard. The paper introduces a mathematical formulation and then proposes a Multi-Start Heuristic algorithm and an Ant Colony Optimization approach whose effectiveness is evaluated through experimental tests performed on both real and synthetically generated instances. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1016/j.cor.2012.02.006 | Computers & OR |
Keywords | DocType | Volume |
robotic skin design,output tactile data,skin patch,key problem,skin element,tactile sensor,optimal wiring,Ant Colony Optimization approach,considered problem,finite set,heuristic approach,robotic skin,large scale,tactile skin | Journal | 39 |
Issue | ISSN | Citations |
11 | 0305-0548 | 5 |
PageRank | References | Authors |
0.46 | 14 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Davide Anghinolfi | 1 | 141 | 11.81 |
| Giorgio Cannata | 2 | 221 | 34.84 |
| Fulvio Mastrogiovanni | 3 | 240 | 48.10 |
| Cristiano Nattero | 4 | 19 | 2.19 |
| Massimo Paolucci | 5 | 4573 | 423.28 |