Multirobot Reconnection on Graphs: Problem, Complexity, and Algorithms
In several multirobot applications in which communication is limited, the mission could require the robots to iteratively take coordinated joint decisions on how to spread out in the environment and on how to reconnect with each other to share data and compute plans. Exploration and surveillance are...
Uloženo v:
| Vydáno v: | IEEE transactions on robotics Ročník 34; číslo 5; s. 1299 - 1314 |
|---|---|
| Hlavní autoři: | , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
New York
IEEE
01.10.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Témata: | |
| ISSN: | 1552-3098, 1941-0468 |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Abstract | In several multirobot applications in which communication is limited, the mission could require the robots to iteratively take coordinated joint decisions on how to spread out in the environment and on how to reconnect with each other to share data and compute plans. Exploration and surveillance are examples of these applications. In this paper, we consider the problem of computing robots' paths on a graph-represented environment for restoring connections at minimum traveling cost. We call it the multirobot reconnection problem, we show its NP-hardness and hardness of approximation on some important classes of graphs, and we provide optimal and heuristic algorithms to solve it in practical settings. The techniques we propose are then exploited to derive a new efficient planning algorithm for a relevant connectivity-constrained multirobot planning problem addressed in the literature, the multirobot informative path planning with periodic connectivity problem. |
|---|---|
| AbstractList | In several multirobot applications in which communication is limited, the mission could require the robots to iteratively take coordinated joint decisions on how to spread out in the environment and on how to reconnect with each other to share data and compute plans. Exploration and surveillance are examples of these applications. In this paper, we consider the problem of computing robots' paths on a graph-represented environment for restoring connections at minimum traveling cost. We call it the multirobot reconnection problem, we show its NP-hardness and hardness of approximation on some important classes of graphs, and we provide optimal and heuristic algorithms to solve it in practical settings. The techniques we propose are then exploited to derive a new efficient planning algorithm for a relevant connectivity-constrained multirobot planning problem addressed in the literature, the multirobot informative path planning with periodic connectivity problem. |
| Author | Banfi, Jacopo Basilico, Nicola Amigoni, Francesco |
| Author_xml | – sequence: 1 givenname: Jacopo orcidid: 0000-0001-9660-4869 surname: Banfi fullname: Banfi, Jacopo email: jacopo.banfi@unimi.it organization: Department of Computer Science, University of Milan, Milano, Italy – sequence: 2 givenname: Nicola surname: Basilico fullname: Basilico, Nicola email: nicola.basilico@unimi.it organization: Department of Computer Science, University of Milan, Milano, Italy – sequence: 3 givenname: Francesco orcidid: 0000-0001-8146-6213 surname: Amigoni fullname: Amigoni, Francesco email: francesco.amigoni@polimi.it organization: Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy |
| BookMark | eNp9kE1LAzEQhoNUsK3eBS8LXrt18rFf3kqxVVAqpZ5DNpvYlN3Nmk3B_ntTWjx4cBiYgXnfGeYZoUFrW4XQLYYpxlA8bNarKQGcT0lOgeH8Ag1xwXAMLM0HoU8SElMo8is06vsdAGEF0CFavO1rb5wtrY_WStq2VdIb20Yhl0502_4xeg_jWjWTaG6brlbfxh8mkWiraFZ_Wmf8tumv0aUWda9uznWMPhZPm_lz_Lpavsxnr7GklPpYUS3TErRKiBIaJCGSMSBVJkqmGaaSJkwwmiWVkKXWeaJliKqqJOhSVyUdo_vT3s7Zr73qPd_ZvWvDSU4wzgCzFEhQpSeVdLbvndJcGi-Ob3knTM0x8CMzHpjxIzN-ZhaM8MfYOdMId_jPcneyGKXUrzynWUGTnP4A9516oA |
| CODEN | ITREAE |
| CitedBy_id | crossref_primary_10_1109_JSYST_2020_2990892 crossref_primary_10_1002_rnc_4886 crossref_primary_10_3390_drones7060388 crossref_primary_10_1109_LRA_2020_2967704 crossref_primary_10_3233_IA_180013 crossref_primary_10_1109_TAC_2021_3058960 crossref_primary_10_1109_ACCESS_2020_2967650 crossref_primary_10_3389_frobt_2020_00083 crossref_primary_10_1109_LRA_2020_3047788 crossref_primary_10_1109_TRO_2019_2957669 crossref_primary_10_3390_electronics12204239 crossref_primary_10_1109_LRA_2020_3017473 crossref_primary_10_1109_ACCESS_2021_3130900 crossref_primary_10_1109_LRA_2020_3003884 |
| Cites_doi | 10.1137/1.9780898717754 10.1109/MIS.2017.4531226 10.1016/0304-3975(79)90044-6 10.1177/02783640022066770 10.1002/rob.20221 10.1017/CBO9780511921735 10.1002/wcm.1145 10.1007/978-3-642-38189-8_11 10.1007/s10846-009-9383-1 10.1109/TRO.2008.2006233 10.1109/TRO.2012.2190178 10.1109/TAC.2016.2626400 10.1016/j.conengprac.2006.08.007 |
| ContentType | Journal Article |
| Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2018 |
| Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2018 |
| DBID | 97E RIA RIE AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D |
| DOI | 10.1109/TRO.2018.2830418 |
| DatabaseName | IEEE All-Society Periodicals Package (ASPP) 2005–Present IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
| DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Technology Research Database |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE/IET Electronic Library url: https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1941-0468 |
| EndPage | 1314 |
| ExternalDocumentID | 10_1109_TRO_2018_2830418 8379358 |
| Genre | orig-research |
| GroupedDBID | .DC 0R~ 29I 4.4 5GY 5VS 6IK 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACIWK AENEX AETIX AGQYO AGSQL AHBIQ AIBXA AKJIK AKQYR ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD F5P HZ~ H~9 IFIPE IPLJI JAVBF LAI M43 MS~ O9- OCL P2P PQQKQ RIA RIE RNS VJK AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D RIG |
| ID | FETCH-LOGICAL-c333t-e3fc6b0fe52eaf0c22c4402d7ab4f413c354a4375dacbff85fccccdddc0fbfdb3 |
| IEDL.DBID | RIE |
| ISICitedReferencesCount | 15 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000446659800012&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 1552-3098 |
| IngestDate | Sun Jun 29 16:32:48 EDT 2025 Sat Nov 29 01:47:25 EST 2025 Tue Nov 18 22:26:32 EST 2025 Wed Aug 27 02:54:27 EDT 2025 |
| IsDoiOpenAccess | false |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 5 |
| Language | English |
| License | https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c333t-e3fc6b0fe52eaf0c22c4402d7ab4f413c354a4375dacbff85fccccdddc0fbfdb3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| ORCID | 0000-0001-8146-6213 0000-0001-9660-4869 |
| OpenAccessLink | http://hdl.handle.net/11311/1099117 |
| PQID | 2117014602 |
| PQPubID | 27625 |
| PageCount | 16 |
| ParticipantIDs | ieee_primary_8379358 crossref_primary_10_1109_TRO_2018_2830418 proquest_journals_2117014602 crossref_citationtrail_10_1109_TRO_2018_2830418 |
| PublicationCentury | 2000 |
| PublicationDate | 2018-Oct. 2018-10-00 20181001 |
| PublicationDateYYYYMMDD | 2018-10-01 |
| PublicationDate_xml | – month: 10 year: 2018 text: 2018-Oct. |
| PublicationDecade | 2010 |
| PublicationPlace | New York |
| PublicationPlace_xml | – name: New York |
| PublicationTitle | IEEE transactions on robotics |
| PublicationTitleAbbrev | TRO |
| PublicationYear | 2018 |
| Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| References | ref13 ref37 penumarthi (ref34) 0 ref15 ref14 ref11 mosteo (ref9) 0 csardi (ref31) 2006; complex syst ref2 anisi (ref24) 2009 mukhija (ref3) 0 quattrini li (ref22) 0 kantaros (ref12) 0 visser (ref20) 0 stump (ref16) 0 de hoog (ref17) 0 banfi (ref33) 0 torsten (ref18) 2015 anisi (ref10) 0 arkin (ref1) 0 das (ref21) 0 ref23 spirin (ref6) 0 ref26 ref25 kolling (ref19) 0 ref28 ref27 (ref30) 2015 banfi (ref5) 0 ref8 ref4 riva (ref35) 0 jensen (ref7) 0 howard (ref32) 2003 colbourn (ref36) 1987 bahl (ref29) 0 |
| References_xml | – ident: ref27 doi: 10.1137/1.9780898717754 – volume: complex syst year: 2006 ident: ref31 article-title: The igraph software package for complex network research publication-title: Interjournal – start-page: 4498 year: 0 ident: ref16 article-title: Visibility-based deployment of robot formations for communication maintenance publication-title: Proc Int Conf Robot Autom – start-page: 1794 year: 0 ident: ref12 article-title: Simultaneous intermittent communication control and path optimization in networks of mobile robots publication-title: Proc 55th Conf Dec Control – start-page: 5491 year: 0 ident: ref5 article-title: Asynchronous multirobot exploration under recurrent connectivity constraints publication-title: Proc Int Conf Robot Autom – year: 1987 ident: ref36 publication-title: The Combinatorics of Network Reliability – start-page: 2323 year: 0 ident: ref19 article-title: Extracting surveillance graphs from robot maps publication-title: Proc Int Conf Intell Robots Syst – year: 2003 ident: ref32 article-title: The robotics data set repository (Radish) – start-page: 4806 year: 0 ident: ref3 article-title: A two phase recursive tree propagation based multi-robotic exploration framework with fixed base station constraint publication-title: Proc Int Conf Intell Robots Syst – start-page: 2060 year: 0 ident: ref22 article-title: Searching for optimal off-line exploration paths in grid environments for a robot with limited visibility publication-title: Proceedings of Artif Intell – ident: ref15 doi: 10.1109/MIS.2017.4531226 – start-page: 491 year: 0 ident: ref9 publication-title: Proc Intl Symp Distrib Autonom Robotic Syst – start-page: 68 year: 0 ident: ref17 article-title: Autonomous multi-robot exploration in communication-limited environments publication-title: Proc Conf Towards Autonom Robot Syst – ident: ref37 doi: 10.1016/0304-3975(79)90044-6 – start-page: 90 year: 0 ident: ref34 article-title: Multirobot exploration for building communication maps with prior from communication models publication-title: Proc Int Symp Multirobot Multiagent Syst – ident: ref28 doi: 10.1177/02783640022066770 – year: 0 ident: ref35 article-title: A journey among pairs of vertices: Computing robots' paths for performing joint measurements publication-title: Proc 1st Int Conf Autonomous Agents Multiagent Syst – ident: ref8 doi: 10.1002/rob.20221 – start-page: 34 year: 0 ident: ref6 article-title: Time preference for information in multiagent exploration with limited communication publication-title: Proc Conf Towards Autonom Robot Syst – start-page: 15 year: 0 ident: ref7 article-title: Communication-restricted exploration for robot teams publication-title: Proc Workshops 28th AAAI Conf Artif Intell – ident: ref23 doi: 10.1017/CBO9780511921735 – ident: ref4 doi: 10.1002/wcm.1145 – start-page: 2978 year: 0 ident: ref21 article-title: Ad hoc networks for localization and control publication-title: Proc 41st IEEE Conf Decis Control – year: 2009 ident: ref24 article-title: On cooperative surveillance, online trajectory planning and observer based control – ident: ref26 doi: 10.1007/978-3-642-38189-8_11 – ident: ref25 doi: 10.1007/s10846-009-9383-1 – start-page: 2577 year: 0 ident: ref33 article-title: Multirobot online construction of communication maps publication-title: Proc Int Conf Robot Autom – start-page: 680 year: 0 ident: ref20 article-title: Including communication success in the estimation of information gain for multi-robot exploration publication-title: 6th Int Symp Modeling Optim Mobile Ad Hoc Wireless Netw – year: 2015 ident: ref18 article-title: Autonomous exploration by robot teams: Coordination, communication, and collaboration – ident: ref11 doi: 10.1109/TRO.2008.2006233 – ident: ref14 doi: 10.1109/TRO.2012.2190178 – ident: ref13 doi: 10.1109/TAC.2016.2626400 – start-page: 455 year: 0 ident: ref1 article-title: Line-of-sight constrained exploration for reactive multiagent robotic teams publication-title: Proc 7th Int Workshop Adv Motion Control – start-page: 2444 year: 0 ident: ref10 article-title: Cooperative surveillance missions with multiple unmanned ground vehicles (UGVs) publication-title: Proc Conf Decis Control – ident: ref2 doi: 10.1016/j.conengprac.2006.08.007 – year: 2015 ident: ref30 article-title: Gurobi optimizer reference manual publication-title: Gurobi Optimization Inc – start-page: 775 year: 0 ident: ref29 article-title: Radar: An in-building RF-based user location and tracking system publication-title: Proc INFOCOM |
| SSID | ssj0024903 |
| Score | 2.3651764 |
| Snippet | In several multirobot applications in which communication is limited, the mission could require the robots to iteratively take coordinated joint decisions on... |
| SourceID | proquest crossref ieee |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 1299 |
| SubjectTerms | Algorithms Approximation algorithms Graphical representations Graphs Mobile robots Multiple robots Multirobot reconnection networked robots Path planning path planning for multiple mobile robot systems Planning Robot kinematics Robots Spread spectrum communication Surveillance |
| Title | Multirobot Reconnection on Graphs: Problem, Complexity, and Algorithms |
| URI | https://ieeexplore.ieee.org/document/8379358 https://www.proquest.com/docview/2117014602 |
| Volume | 34 |
| WOSCitedRecordID | wos000446659800012&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVIEE databaseName: IEEE/IET Electronic Library customDbUrl: eissn: 1941-0468 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0024903 issn: 1552-3098 databaseCode: RIE dateStart: 20040101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3PS8MwFH7o8KAHf01xOqUHL8LqYpI2jTcRpwdREZXdSvuS6GCusnWC_71J2k1BESw99JCU9kv7Xl5e3vcBHFKDMdWUhSexpCEXxNpBiXZADErJUeSRz5g-XYubm6Tfl3cL0JnXwmit_eYzfewufS5fFTh1S2VdG0y5tN0iLAoRV7VaX7x60qsgO0axkBGZzFKSRHYf7m_dHq7k2JFdcSfv8c0FeU2VH4bYe5fe2v-eax1W61lkcFYN-wYs6NEmrHzjFmxCz5fWjou8KAMXY1p76ksYAnteOpbqyWlwV6nJdAJnFRwzZvnRCbKRCs6Gz8V4UL68TrbgsXfxcH4V1qIJITLGylAzi35OjI6ozgxBSpHbGFGJLOfGeixkEc84E5HKMDcmiQzaQymFxORG5WwbGqNipHcgQPtSKo6QK6F5pOOEo_V3uYztJC4xRLSgO8MxxZpR3AlbDFMfWRCZWuRTh3xaI9-Co3mPt4pN44-2TYf0vF0Ncgvas6FK699tklKnn2NtPqG7v_fag2V372oXXhsa5Xiq92EJ38vBZHzgv6RPqvjGdA |
| linkProvider | IEEE |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8QwEB58gXrwLa6u2oMXYevGJH3Em4ir4rqKrOKttJNEBd3KbhX89yZpd11QBEsPPSS0_dLOZDKZ7wPYoxpDqijzD0NBfR4RYwcFmgHRKATHKAtcxvS-HXU68cODuJmAxqgWRinlNp-pA3vpcvkyx3e7VNY0wZRN203CdMA5JWW11jeznnA6yJZTzGdExMOkJBHN7u213cUVH1i6K24FPsackFNV-WGKnX9pLf7vyZZgoZpHesflwC_DhOqtwPwYu-AqtFxxbT_P8sKzUaaxqK6IwTPnmeWpHhx5N6WeTMOzdsFyYxafDS_tSe_45THvPxdPr4M1uGuddk_O_Uo2wUfGWOErZvDPiFYBVakmSClyEyXKKM24Nj4LWcBTzqJApphpHQcazSGlRKIzLTO2DlO9vKc2wEPzUjIMkMtI8UCFMUfj8TIRmmlcrElUg-YQxwQrTnErbfGSuNiCiMQgn1jkkwr5GuyPeryVfBp_tF21SI_aVSDXoD4cqqT64QYJtQo6xuoTuvl7r12YPe9etZP2RedyC-bsfco9eXWYKvrvahtm8KN4HvR33Ff1BSb_ybs |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Multirobot+Reconnection+on+Graphs%3A+Problem%2C+Complexity%2C+and+Algorithms&rft.jtitle=IEEE+transactions+on+robotics&rft.au=Banfi%2C+Jacopo&rft.au=Basilico%2C+Nicola&rft.au=Amigoni%2C+Francesco&rft.date=2018-10-01&rft.issn=1552-3098&rft.eissn=1941-0468&rft.volume=34&rft.issue=5&rft.spage=1299&rft.epage=1314&rft_id=info:doi/10.1109%2FTRO.2018.2830418&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_TRO_2018_2830418 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1552-3098&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1552-3098&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1552-3098&client=summon |