TY - GEN
T1 - Multiobjective problem to find paths through swarm robotics
AU - Solis-Ortega, Rebeca
AU - Calderon-Arce, Cindy
N1 - Publisher Copyright:
© 2019 Copyright is held by the owner/author(s).
PY - 2019/10/11
Y1 - 2019/10/11
N2 - 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.
AB - 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.
KW - Exploration
KW - Graph search
KW - Multiobjective optimization
KW - NGSA-II
KW - Path planning
KW - Rapidly exploring random graph (RRG)
KW - Stigmergy
KW - Swarm robotics
UR - http://www.scopus.com/inward/record.url?scp=85123041427&partnerID=8YFLogxK
U2 - 10.1145/3365265.3365275
DO - 10.1145/3365265.3365275
M3 - Contribución a la conferencia
AN - SCOPUS:85123041427
T3 - ACM International Conference Proceeding Series
BT - Proceedings of 2019 3rd International Conference on Automation, Control and Robots, ICACR 2019
PB - Association for Computing Machinery
T2 - 3rd International Conference on Automation, Control and Robots, ICACR 2019
Y2 - 11 October 2019 through 13 October 2019
ER -