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An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments

Benavides, Facundo and Ponzoni Carvalho Chanel, Caroline and Monzón, Pablo and Grampín, Eduardo An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments. (2019) Applied Sciences, 9 (3). 1-46. ISSN 2076-3417

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Official URL: http://dx.doi.org/10.3390/app9030573

Abstract

The exploration problem is a fundamental subject in autonomous mobile robotics that deals with achieving the complete coverage of a previously unknown environment. There are several scenarios where completing exploration of a zone is a main part of the mission. Due to the efficiency and robustness brought by the multi-robot systems, exploration is usually done cooperatively. Wireless communication plays an important role in collaborative multi-robot strategies. Unfortunately, the assumption of stable communication and end-to-end connectivity may be easily compromised in real scenarios. In this paper, a novel auto-adaptive multi-objective strategy is followed to support the selection of tasks regarding both exploration performance and connectivity level. Compared with others, the proposed approach shows effectiveness and flexibility to tackle the multi-robot exploration problem, being capable of decreasing the last of disconnection periods without noticeable degradation of the completion exploration time.

Item Type:Article
Additional Information:This article belongs to the Special Issue Multi-Robot Systems: Challenges, Trends and Applications
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Universidad de la República - UdelaR (URUGUAY)
Laboratory name:
Funders:
This research was partially funded by the Comisión Sectorial de Investigación (CSIC-UdelaR) through its mobility program MIA.
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Deposited By: Caroline Ponzoni Carvalho Chanel
Deposited On:05 Mar 2019 15:54

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