On multi-robot search for a stationary object
Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is generalization of the Traveling Deliveryman Problem where more than one deliveryman is allowed to be used in a solution. Similarly, the second va...
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2017
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| Acceso en línea: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97815386_v_n_p_Kulich http://hdl.handle.net/20.500.12110/paper_97815386_v_n_p_Kulich |
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paper:paper_97815386_v_n_p_Kulich |
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paper:paper_97815386_v_n_p_Kulich2023-06-08T16:38:02Z On multi-robot search for a stationary object Benchmarking Industrial robots Mobile robots Multipurpose robots Computational experiment Computational time Integrated approach K-means clustering Multi-robot search Standard solutions Stationary objects Traveling deliveryman problem Robots Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is generalization of the Traveling Deliveryman Problem where more than one deliveryman is allowed to be used in a solution. Similarly, the second variant is generalization of the Graph Search Problem. A novel heuristics suitable for both problems is proposed which is furthermore integrated into a cluster-first route second approach. A set of computational experiments was conducted over the benchmark instances derived from the TSPLIB library. The results obtained show that even a standalone heuristics significantly outperforms the standard solution based on k- means clustering in quality of results as well as computational time. The integrated approach furthermore improves solutions found by a standalone heuristics by up to 15% at the expense of higher computational complexity. © 2017 IEEE. 2017 https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97815386_v_n_p_Kulich http://hdl.handle.net/20.500.12110/paper_97815386_v_n_p_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 |
Benchmarking Industrial robots Mobile robots Multipurpose robots Computational experiment Computational time Integrated approach K-means clustering Multi-robot search Standard solutions Stationary objects Traveling deliveryman problem Robots |
| spellingShingle |
Benchmarking Industrial robots Mobile robots Multipurpose robots Computational experiment Computational time Integrated approach K-means clustering Multi-robot search Standard solutions Stationary objects Traveling deliveryman problem Robots On multi-robot search for a stationary object |
| topic_facet |
Benchmarking Industrial robots Mobile robots Multipurpose robots Computational experiment Computational time Integrated approach K-means clustering Multi-robot search Standard solutions Stationary objects Traveling deliveryman problem Robots |
| description |
Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is generalization of the Traveling Deliveryman Problem where more than one deliveryman is allowed to be used in a solution. Similarly, the second variant is generalization of the Graph Search Problem. A novel heuristics suitable for both problems is proposed which is furthermore integrated into a cluster-first route second approach. A set of computational experiments was conducted over the benchmark instances derived from the TSPLIB library. The results obtained show that even a standalone heuristics significantly outperforms the standard solution based on k- means clustering in quality of results as well as computational time. The integrated approach furthermore improves solutions found by a standalone heuristics by up to 15% at the expense of higher computational complexity. © 2017 IEEE. |
| title |
On multi-robot search for a stationary object |
| title_short |
On multi-robot search for a stationary object |
| title_full |
On multi-robot search for a stationary object |
| title_fullStr |
On multi-robot search for a stationary object |
| title_full_unstemmed |
On multi-robot search for a stationary object |
| title_sort |
on multi-robot search for a stationary object |
| publishDate |
2017 |
| url |
https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97815386_v_n_p_Kulich http://hdl.handle.net/20.500.12110/paper_97815386_v_n_p_Kulich |
| _version_ |
1768544249295405056 |