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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/357C9999-9DB5-4471-A081-C03C8BD68800 | ||
| Year | 2008 | ||
| Type of Item | Conference Full Paper | ||
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| Bibliographic Citation | 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 | ||
| Appears in Collections |
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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