Multiobjective problem to find paths through swarm robotics

Rebeca Solis-Ortega, Cindy Calderon-Arce

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In this paper, we present a scheme to solve the problem to explore, cover and define paths in dangerous environments. The proposal is organized in three phases: exploration, mapping and path planning. Swarm robotics is used in the first phase along with a stigmergy approach for the communication between the agents. The explored cell will be stored in order to create a grid map. In the path planning phase, a multiobjective problem is used to minimize distance and danger, through a graph obtained by an adapted RRG, and a genetic algorithm called modified NSGA-II.

Original languageEnglish
Title of host publicationProceedings of 2019 3rd International Conference on Automation, Control and Robots, ICACR 2019
PublisherAssociation for Computing Machinery
ISBN (Electronic)9781450372886
DOIs
StatePublished - 11 Oct 2019
Event3rd International Conference on Automation, Control and Robots, ICACR 2019 - Prague, Czech Republic
Duration: 11 Oct 201913 Oct 2019

Publication series

NameACM International Conference Proceeding Series

Conference

Conference3rd International Conference on Automation, Control and Robots, ICACR 2019
Country/TerritoryCzech Republic
CityPrague
Period11/10/1913/10/19

Keywords

  • Exploration
  • Graph search
  • Multiobjective optimization
  • NGSA-II
  • Path planning
  • Rapidly exploring random graph (RRG)
  • Stigmergy
  • Swarm robotics

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