Comparison of Task-Allocation Algorithms in Frontier-Based Multi-Robot Exploration
Identifieur interne : 000823 ( Main/Exploration ); précédent : 000822; suivant : 000824Comparison of Task-Allocation Algorithms in Frontier-Based Multi-Robot Exploration
Auteurs : Jan Faigl [République tchèque] ; Olivier Simonin [France] ; François Charpillet [France]Source :
English descriptors
Abstract
In this paper, we address the problem of efficient allocation of the navigational goals in the multi-robot exploration of unknown environment. Goal candidate locations are repeatedly determined during the ex- ploration. Then, the assignment of the candidates to the robots is solved as the task-allocation problem. A more frequent decision-making may im- prove performance of the exploration, but in a practical deployment of the exploration strategies, the frequency depends on the computational complexity of the task-allocation algorithm and available computational resources. Therefore, we propose an evaluation framework to study explo- ration strategies independently on the available computational resources and we report a comparison of the selected task-allocation algorithms deployed in multi-robot exploration.
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Goal candidate locations are repeatedly determined during the ex- ploration. Then, the assignment of the candidates to the robots is solved as the task-allocation problem. A more frequent decision-making may im- prove performance of the exploration, but in a practical deployment of the exploration strategies, the frequency depends on the computational complexity of the task-allocation algorithm and available computational resources. Therefore, we propose an evaluation framework to study explo- ration strategies independently on the available computational resources and we report a comparison of the selected task-allocation algorithms deployed in multi-robot exploration.</div></front></TEI><affiliations><list><country><li>France</li><li>République tchèque</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li></orgName></list><tree><country name="République tchèque"><noRegion><name sortKey="Faigl, Jan" sort="Faigl, Jan" uniqKey="Faigl J" first="Jan" last="Faigl">Jan Faigl</name></noRegion></country><country name="France"><noRegion><name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name></noRegion><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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