About: Unifying multi-goal path planning for autonomous data collection

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

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	In this paper, we propose a framework for solving variants of the multi-goal path planning problem with applications to autonomous data collection. Autonomous data collection requires optimizing the trajectory of a mobile vehicle to collect data from a number of stationary sensors in a known configuration. The proposed approach utilizes the self-organizing map (SOM) architecture to provide a unified solution to multi-goal path planning problems. Our approach applies to cases where the vehicle must move within a radius of a sensor to collect data and also where some sensors can be ignored due to a lower priority. We compare our proposed approach to state-of-the-art approximate solutions to variants of the Traveling Salesman Problem (TSP) for random deployments and in an underwater monitoring application domain. Our results demonstrate that the SOM approach outperforms combinatorial heuristic algorithms and also provides a unified approach for solving variants of the multi-goal path planning problem. In this paper, we propose a framework for solving variants of the multi-goal path planning problem with applications to autonomous data collection. Autonomous data collection requires optimizing the trajectory of a mobile vehicle to collect data from a number of stationary sensors in a known configuration. The proposed approach utilizes the self-organizing map (SOM) architecture to provide a unified solution to multi-goal path planning problems. Our approach applies to cases where the vehicle must move within a radius of a sensor to collect data and also where some sensors can be ignored due to a lower priority. We compare our proposed approach to state-of-the-art approximate solutions to variants of the Traveling Salesman Problem (TSP) for random deployments and in an underwater monitoring application domain. Our results demonstrate that the SOM approach outperforms combinatorial heuristic algorithms and also provides a unified approach for solving variants of the multi-goal path planning problem. (en)
Title	Unifying multi-goal path planning for autonomous data collection Unifying multi-goal path planning for autonomous data collection (en)
skos:prefLabel	Unifying multi-goal path planning for autonomous data collection Unifying multi-goal path planning for autonomous data collection (en)
skos:notation	RIV/68407700:21230/14:00225362!RIV15-GA0-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(GP13-18316P)
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	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	51958
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/14:00225362
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Conformal mapping; Heuristic algorithms; Intelligent robots; Motion planning; Traveling salesman problem Approximate solution; Data collection; Mobile vehicle; Path planning problems; Random deployment; Underwater monitoring; Unified approach (en)
http://linked.open.../riv/klicoveSlovo	Heuristic algorithms Data collection Motion planning Conformal mapping Intelligent robots Mobile vehicle Path planning problems Random deployment Traveling salesman problem Approximate solution Underwater monitoring Unified approach
http://linked.open...ontrolniKodProRIV	[E3D796CC1098]
http://linked.open...v/mistoKonaniAkce	Chicago
http://linked.open...i/riv/mistoVydani	Piscataway
http://linked.open...i/riv/nazevZdroje	Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Self-Organizing Maps for Multi-Goal Path Planning Tasks
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Faigl, Jan Hollinger, G. A.
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-09-14 (xsd:date)
issn	2153-0858
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/IROS.2014.6942967
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4799-6934-0
http://localhost/t...ganizacniJednotka	21230

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