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Open AccessArticle

Cloud-Based Multi-Robot Path Planning in Complex and Crowded Environment with Multi-Criteria Decision Making Using Full Consistency Method

1
Faculty of Electrical Engineering, University of Belgrade, Bulevar kralja Aleksandra 73, 11120 Belgrade, Serbia
2
Department of Logistics, Military Academy, University of Defence, Pavla Jurisica Sturma 33, 11000 Belgrade, Serbia
*
Author to whom correspondence should be addressed.
Symmetry 2019, 11(10), 1241; https://doi.org/10.3390/sym11101241
Received: 14 July 2019 / Revised: 23 September 2019 / Accepted: 24 September 2019 / Published: 4 October 2019
The progress in the research of various areas of robotics, artificial intelligence, and other similar scientific disciplines enabled the application of multi-robot systems in different complex environments and situations. It is necessary to elaborate the strategies regarding the path planning and paths coordination well in order to efficiently execute a global mission in common environment, prior to everything. This paper considers the multi-robot system based on the cloud technology with a high level of autonomy, which is intended for execution of tasks in a complex and crowded environment. Cloud approach shifts computation load from agents to the cloud and provides powerful processing capabilities to the multi-robot system. The proposed concept uses a multi-robot path planning algorithm that can operate in an environment that is unknown in advance. With the aim of improving the efficiency of path planning, the implementation of Multi-criteria decision making (MCDM) while using Full consistency method (FUCOM) is proposed. FUCOM guarantees the consistent determination of the weights of factors affecting the robots motion to be symmetric or asymmetric, with respect to the mission specificity that requires the management of multiple risks arising from different sources, optimizing the global cost map in that way. View Full-Text
Keywords: multi-robot systems; path planning; D* Lite; FUCOM; cloud technology multi-robot systems; path planning; D* Lite; FUCOM; cloud technology
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Zagradjanin, N.; Pamucar, D.; Jovanovic, K. Cloud-Based Multi-Robot Path Planning in Complex and Crowded Environment with Multi-Criteria Decision Making Using Full Consistency Method. Symmetry 2019, 11, 1241.

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