Name
Abstract | ||
|---|---|---|
In this paper, we address the problem of multi-robot systems in emergency response applications, where a team of robots/drones has to visit affected locations to provide rescue services. In the literature, the most common approach is to assign target locations individually to robots using centralized or distributed techniques. The problem is that the computation complexity increases significantly with the number of robots and target locations. In addition, target locations may not be assigned uniformly among the robots. In this paper, we propose, CMMTSP, a clustering market-based approach that first groups locations into clusters, then assigns clusters to robots using a market-based approach. We formulate the problem as multiple-depot MTSP and address the multi-objective optimization of three objectives namely, the total traveled distance, the maximum traveled distance and the mission time. Simulations show that CM-MTSP provides a better balance among the three objectives as compared to a single objective optimization, in particular an enhancement of the mission time, and reduces the execution time to at least 80% as compared to a greedy approach. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/ICARSC.2016.14 | 2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) |
Keywords | Field | DocType |
greedy approach,execution time reduction,mission time,maximum traveled distance,total traveled distance,multiobjective optimization,multiple-depot MTSP,CMMTSP,centralized techniques,distributed techniques,rescue services,drone team,robot team,multi-robot emergency response applications,clustering market-based approach | Server,Mission time,Robot kinematics,Execution time,Drone,Artificial intelligence,Engineering,Cluster analysis,Robot,Computation complexity,Distributed computing | Conference |
ISSN | ISBN | Citations |
2573-9360 | 978-1-5090-2256-4 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sahar Trigui | 1 | 0 | 0.34 |
| Anis Koubaa | 2 | 608 | 60.30 |
| Omar Cheikhrouhou | 3 | 66 | 11.71 |
| Basit Qureshi | 4 | 125 | 13.11 |
| Habib Youssef | 5 | 618 | 66.95 |