Artículo
An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments
Fecha
2019Registro en:
Benavides Olivera, F, Ponzoni Carvalho Chanel, C, Monzón, P y Grampín, E. "An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments". Applied Sciences. [en línea] 2019 Vol.9, no.3. doi.org/10.3390/app9030573
Autor
Benavides Olivera, Facundo
Ponzoni Carvalho Chanel, Caroline
Monzón, Pablo
Grampín, Eduardo
Institución
Resumen
The exploration problem is a fundamental subject in autonomous mobile robotics that
deals with achieving the complete coverage of a previously unknown environment. There are several
scenarios where completing exploration of a zone is a main part of the mission. Due to the efficiency
and robustness brought by multi-robot systems, exploration is usually done cooperatively. Wireless
communication plays an important role in collaborative multi-robot strategies. Unfortunately, the
assumption of stable communication and end-to-end connectivity may be easily compromised in
real scenarios. In this paper, a novel auto-adaptive multi-objective strategy is followed to support
the selection of tasks regarding both exploration performance and connectivity level. Compared
with others, the proposed approach shows effectiveness and flexibility to tackle the multi-robot
exploration problem, being capable of decreasing the last of disconnection periods without noticeable
degradation of the completion exploration time.