About: Goal Assignment using Distance Cost in Multi-Robot Exploration

Facets (new session)
Description
Metadata
Settings
- owl:sameAs
- Inference Rule:

About: Goal Assignment using Distance Cost in Multi-Robot Exploration Goto Sponge NotDistinct Permalink

An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	In this paper, we discuss the problem of goal assignment in the multi-robot exploration task. The presented work is focused on the underlying optimal assignment problem of the multi-robot task allocation that is addressed by three state-of-the art approaches. In addition, we propose a novel exploration strategy considering allocation of all current goals (not only immediate goal) for each robot, which leads to the multiple traveling salesman problem formulation. Although the problem is strongly NP-hard, we show its approximate solution is computationally feasible and its overall requirements are competitive to the previous approaches. The proposed approach and three well-known approaches are compared in series of problems considering various numbers of robots and sensor ranges. Based on the evaluation of the results the proposed exploration strategy provides shorter exploration times than the former approaches. In this paper, we discuss the problem of goal assignment in the multi-robot exploration task. The presented work is focused on the underlying optimal assignment problem of the multi-robot task allocation that is addressed by three state-of-the art approaches. In addition, we propose a novel exploration strategy considering allocation of all current goals (not only immediate goal) for each robot, which leads to the multiple traveling salesman problem formulation. Although the problem is strongly NP-hard, we show its approximate solution is computationally feasible and its overall requirements are competitive to the previous approaches. The proposed approach and three well-known approaches are compared in series of problems considering various numbers of robots and sensor ranges. Based on the evaluation of the results the proposed exploration strategy provides shorter exploration times than the former approaches. (en)
Title	Goal Assignment using Distance Cost in Multi-Robot Exploration Goal Assignment using Distance Cost in Multi-Robot Exploration (en)
skos:prefLabel	Goal Assignment using Distance Cost in Multi-Robot Exploration Goal Assignment using Distance Cost in Multi-Robot Exploration (en)
skos:notation	RIV/68407700:21230/12:00196350!RIV13-MSM-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(LH11053), P(TE01020197)
http://linked.open...vai/riv/dodaniDat	2013
http://linked.open...aciTvurceVysledku	Kulich, Miroslav Přeučil, Libor Faigl, Jan
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	138261
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/12:00196350
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Multi-Robot; Mobile Robot Exploration; Cooperation; Task-Allocation; MTSP (en)
http://linked.open.../riv/klicoveSlovo	Cooperation MTSP Mobile Robot Exploration Multi-Robot Task-Allocation
http://linked.open...ontrolniKodProRIV	[C4051CF4CBC6]
http://linked.open...v/mistoKonaniAkce	Vilamoura, Algarve
http://linked.open...i/riv/mistoVydani	Piscataway
http://linked.open...i/riv/nazevZdroje	Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Centre for Applied Cybernetics 3 Control and Localization for Swarms of Low-cost Autonomous Robots
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Faigl, Jan Kulich, Miroslav Přeučil, Libor
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open...ain/vavai/riv/wos	000317042704046
http://linked.open.../riv/zahajeniAkce	2012-10-07 (xsd:date)
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/IROS.2012.6385660
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4673-1735-1
http://localhost/t...ganizacniJednotka	21230
is http://linked.open...avai/riv/vysledek of	Goal Assignment using Distance Cost in Multi-Robot Exploration

Faceted Search & Find service v1.16.118 as of Jun 21 2024

Alternative Linked Data Documents: ODE Content Formats:

RDF

ODATA

Microdata

About

OpenLink Virtuoso version 07.20.3240 as of Jun 21 2024, on Linux (x86_64-pc-linux-gnu), Single-Server Edition (126 GB total memory, 49 GB memory in use)
Data on this page belongs to its respective rights holders.
Virtuoso Faceted Browser Copyright © 2009-2024 OpenLink Software