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...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:IEEE transactions on robotics Ročník 34; číslo 5; s. 1299 - 1314
Hlavní autoři: Banfi, Jacopo, Basilico, Nicola, Amigoni, Francesco
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.10.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
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
ISSN:1552-3098, 1941-0468
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Popis
Shrnutí: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.
Bibliografie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2018.2830418