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Guaranteed-performance multiRobot routing under limited communication range

Mosteo, A., Montano, L., Lagoudakis Michael

Πλήρης Εγγραφή


URI: http://purl.tuc.gr/dl/dias/357C9999-9DB5-4471-A081-C03C8BD68800
Έτος 2008
Τύπος Πλήρης Δημοσίευση σε Συνέδριο
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Λεπτομέρειες
Βιβλιογραφική Αναφορά A. Mosteo, L. Montano, and M. G. Lagoudakis, “Guaranteed-performance multirobot routing under limited communication range,” in 9th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2008, pp. 491–502. doi: 10.1007/978-3-642-00644-9_43 https://doi.org/10.1007/978-3-642-00644-9_43
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Περίληψη

A common assumption made in multi-robot research is that robots operate in a fully networked environment, where any two robots can communicate reliably at any time. However, in real-world missions over large geographical areas robots have a limited communication range and signal propagation conditions may be unpredictable due to obstacles or interferences. In such cases, communication limitations must be taken explicitly into account. In this paper, we present a multirobot routing algorithmfor dense environments under limited communication range. We focus on the aspect of careful mission planning in order to guarantee continuous connectivity and mission completeness, while offering a guarantee on performance under a variety of team objectives. The proposed algorithms are demonstrated in a large-scale domain using realistic simulations on the Player/Stage platform.

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