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Appl. Sci. 2019, 9(3), 573; https://doi.org/10.3390/app9030573

An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments

1
Computer Science Institute, Faculty of Engineering, Universidad de la República, 11300 Montevideo, Uruguay
2
Aerospace Vehicles Design and Control Department (DCAS), ISAE-SUPAERO, Université de Toulouse, 31055 Toulouse, France
3
Electrical Engineering Institute, Faculty of Engineering, Universidad de la República, 11300 Montevideo, Uruguay
*
Author to whom correspondence should be addressed.
Current address: J. H. y Reissig 565, Facultad de Ingeniería (InCo), 11300 Montevideo, Uruguay.
These authors contributed equally to this work.
Received: 21 December 2018 / Revised: 31 January 2019 / Accepted: 2 February 2019 / Published: 9 February 2019
(This article belongs to the Special Issue Multi-Robot Systems: Challenges, Trends and Applications)
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Abstract

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. View Full-Text
Keywords: exploration missions; cooperative systems; multi-robot coordinated systems; constrained-communication environments exploration missions; cooperative systems; multi-robot coordinated systems; constrained-communication environments
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Benavides, F.; Ponzoni Carvalho Chanel, C.; Monzón, P.; Grampín, E. An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments. Appl. Sci. 2019, 9, 573.

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