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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F13%3A00205385%21RIV14-MSM-21230___
rdf:type
n3:Vysledek skos:Concept
rdfs:seeAlso
http://www.sciencedirect.com/science/article/pii/S0921889012001455
dcterms:description
This paper is concerned with a variant of the multi-goal path planning in which goals are represented as convex polygons. The problem is to find a closed shortest path in a polygonal map such that all goals are visited. The proposed solution is based on a self-organizing map (SOM) algorithm for the traveling salesman problem. Neurons’ weights are considered as nodes inside the polygonal domain and connected nodes represent a path that evolves according to the proposed adaptation rules. In addition, a reference algorithm based on the solution of the traveling salesman problem and the consecutive touring polygons problem is provided to find high quality solutions of the created set of problems. The problems are designed to represent various inspection and patrolling tasks and can form a kind of benchmark set for multi-goal path planning algorithms. The performance of the algorithms is examined in this problem set, which includes an instance of the watchman route problem with restricted visibility range. The proposed SOM based algorithms provide a unified approach to solve various visibility based routing problems in polygonal maps while they provide a competitive quality of solutions to the reference algorithm with significantly lower computational requirements. This paper is concerned with a variant of the multi-goal path planning in which goals are represented as convex polygons. The problem is to find a closed shortest path in a polygonal map such that all goals are visited. The proposed solution is based on a self-organizing map (SOM) algorithm for the traveling salesman problem. Neurons’ weights are considered as nodes inside the polygonal domain and connected nodes represent a path that evolves according to the proposed adaptation rules. In addition, a reference algorithm based on the solution of the traveling salesman problem and the consecutive touring polygons problem is provided to find high quality solutions of the created set of problems. The problems are designed to represent various inspection and patrolling tasks and can form a kind of benchmark set for multi-goal path planning algorithms. The performance of the algorithms is examined in this problem set, which includes an instance of the watchman route problem with restricted visibility range. The proposed SOM based algorithms provide a unified approach to solve various visibility based routing problems in polygonal maps while they provide a competitive quality of solutions to the reference algorithm with significantly lower computational requirements.
dcterms:title
Visiting Convex Regions in a Polygonal Map Visiting Convex Regions in a Polygonal Map
skos:prefLabel
Visiting Convex Regions in a Polygonal Map Visiting Convex Regions in a Polygonal Map
skos:notation
RIV/68407700:21230/13:00205385!RIV14-MSM-21230___
n3:predkladatel
n12:orjk%3A21230
n4:aktivita
n13:P
n4:aktivity
P(7E08006), P(7E11017), P(LH11053)
n4:cisloPeriodika
10
n4:dodaniDat
n18:2014
n4:domaciTvurceVysledku
n17:3933334 n17:7341520
n4:druhVysledku
n7:J
n4:duvernostUdaju
n16:S
n4:entitaPredkladatele
n21:predkladatel
n4:idSjednocenehoVysledku
114178
n4:idVysledku
RIV/68407700:21230/13:00205385
n4:jazykVysledku
n10:eng
n4:klicovaSlova
Inspection planning; Multi-goal path planning; Self-organizing map; Safari route problem; Traveling salesman problem; Watchman route problem; Touring polygons problem; Polygonal domain
n4:klicoveSlovo
n5:Self-organizing%20map n5:Inspection%20planning n5:Traveling%20salesman%20problem n5:Multi-goal%20path%20planning n5:Safari%20route%20problem n5:Watchman%20route%20problem n5:Touring%20polygons%20problem n5:Polygonal%20domain
n4:kodStatuVydavatele
NL - Nizozemsko
n4:kontrolniKodProRIV
[6B325011B2E7]
n4:nazevZdroje
Robotics and Autonomous Systems
n4:obor
n8:JC
n4:pocetDomacichTvurcuVysledku
2
n4:pocetTvurcuVysledku
3
n4:projekt
n11:LH11053 n11:7E08006 n11:7E11017
n4:rokUplatneniVysledku
n18:2013
n4:svazekPeriodika
61
n4:tvurceVysledku
Přeučil, Libor Vonásek, Vojtěch Faigl, Jan
n4:wos
000325196600004
s:issn
0921-8890
s:numberOfPages
14
n19:doi
10.1016/j.robot.2012.08.013
n14:organizacniJednotka
21230