A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

The single-robot search problem in an unknown environment is defined as the problem of finding a stationary object in the environment whose map is not known a priori. Compared to exploration, the only difference lies in goal selection as the objectives of search and exploration are dissimilar, i.e....

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Autor principal:	Miranda Bront, Juan José
Publicado:	2017
Materias:	Graph Search Problem GRASP Mobile robotics Robotic search Traveling Deliveryman Problem Robotics Graph search Mobile robotic Robotic searches Traveling deliveryman problem Heuristic algorithms
Acceso en línea:	https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_03050548_v84_n_p178_Kulich http://hdl.handle.net/20.500.12110/paper_03050548_v84_n_p178_Kulich
Aporte de:	Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA) de Universidad de Buenos Aires

id	paper:paper_03050548_v84_n_p178_Kulich
record_format	dspace
spelling	paper:paper_03050548_v84_n_p178_Kulich2023-06-08T15:30:27Z A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment Miranda Bront, Juan José Graph Search Problem GRASP Mobile robotics Robotic search Traveling Deliveryman Problem Robotics Graph search GRASP Mobile robotic Robotic searches Traveling deliveryman problem Heuristic algorithms The single-robot search problem in an unknown environment is defined as the problem of finding a stationary object in the environment whose map is not known a priori. Compared to exploration, the only difference lies in goal selection as the objectives of search and exploration are dissimilar, i.e. a trajectory that is optimal in exploration does not necessarily minimize the expected value of the time to find an object along it. For this reason, in this paper we extend the preliminary ideas presented in Kulich et al. [1] to a general framework that accounts for the particular characteristics of the search problem. Within this framework, an important decision involved in the determination of the trajectory can be formulated as an instance of the Graph Search Problem (GSP), a generalization of the well-known Traveling Deliveryman Problem (TDP) which has not received much attention in the literature. We developed a tailored Greedy Randomized Adaptive Search Procedure (GRASP) meta-heuristic for the GSP, which generates good quality solutions in very short computing times and is incorporated in the overall framework. The proposed approach produces very good results in a simulation environment, showing that it is feasible from a computational standpoint and the proposed strategy outperforms the standard approaches. © 2016 Elsevier Ltd Fil:Miranda-Bront, J.J. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina. 2017 https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_03050548_v84_n_p178_Kulich http://hdl.handle.net/20.500.12110/paper_03050548_v84_n_p178_Kulich
institution	Universidad de Buenos Aires
institution_str	I-28
repository_str	R-134
collection	Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA)
topic	Graph Search Problem GRASP Mobile robotics Robotic search Traveling Deliveryman Problem Robotics Graph search GRASP Mobile robotic Robotic searches Traveling deliveryman problem Heuristic algorithms
spellingShingle	Graph Search Problem GRASP Mobile robotics Robotic search Traveling Deliveryman Problem Robotics Graph search GRASP Mobile robotic Robotic searches Traveling deliveryman problem Heuristic algorithms Miranda Bront, Juan José A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment
topic_facet	Graph Search Problem GRASP Mobile robotics Robotic search Traveling Deliveryman Problem Robotics Graph search GRASP Mobile robotic Robotic searches Traveling deliveryman problem Heuristic algorithms
description	The single-robot search problem in an unknown environment is defined as the problem of finding a stationary object in the environment whose map is not known a priori. Compared to exploration, the only difference lies in goal selection as the objectives of search and exploration are dissimilar, i.e. a trajectory that is optimal in exploration does not necessarily minimize the expected value of the time to find an object along it. For this reason, in this paper we extend the preliminary ideas presented in Kulich et al. [1] to a general framework that accounts for the particular characteristics of the search problem. Within this framework, an important decision involved in the determination of the trajectory can be formulated as an instance of the Graph Search Problem (GSP), a generalization of the well-known Traveling Deliveryman Problem (TDP) which has not received much attention in the literature. We developed a tailored Greedy Randomized Adaptive Search Procedure (GRASP) meta-heuristic for the GSP, which generates good quality solutions in very short computing times and is incorporated in the overall framework. The proposed approach produces very good results in a simulation environment, showing that it is feasible from a computational standpoint and the proposed strategy outperforms the standard approaches. © 2016 Elsevier Ltd
author	Miranda Bront, Juan José
author_facet	Miranda Bront, Juan José
author_sort	Miranda Bront, Juan José
title	A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment
title_short	A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment
title_full	A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment
title_fullStr	A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment
title_full_unstemmed	A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment
title_sort	meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment
publishDate	2017
url	https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_03050548_v84_n_p178_Kulich http://hdl.handle.net/20.500.12110/paper_03050548_v84_n_p178_Kulich
work_keys_str_mv	AT mirandabrontjuanjose ametaheuristicbasedgoalselectionstrategyformobilerobotsearchinanunknownenvironment AT mirandabrontjuanjose metaheuristicbasedgoalselectionstrategyformobilerobotsearchinanunknownenvironment
_version_	1768541752641191936

A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

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