Collaborative Exploration by Energy-Constrained Mobile Robots

Das, Shantanu; Dereniowski, Dariusz; Karousatou, Christina

doi:10.1007/978-3-319-25258-2_25

“…Duncan et al [20] consider a similar model where the agent is tied with a rope of length b to the starting location. Multi-agent exploration under uniform energy constraint of b, has been studied for trees [25,21] with the objective of minimizing the energy budget per agent [22] or the number k of agents [16] required for exploration, while time optimal exploration was studied by Dereniowski et al [19] under the same model. Demaine et al [17,18] studied problems of optimizing the total or maximum energy consumption of the agents when the agents need to place themselves in desired configurations (e.g.…”

Section: Definition 1 (Near-gathering)mentioning

confidence: 99%

Near-gathering of energy-constrained mobile agents

Bärtschi

¹

,

Bampas

²

,

Chalopin

³

et al. 2021

Theoretical Computer Science

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We study the task of gathering k energy-constrained mobile agents in an undirected edgeweighted graph. Each agent is initially placed on an arbitrary node and has a limited amount of energy, which constrains the distance it can move. Since this may render gathering at a single point impossible, we study three variants of near-gathering: The goal is to move the agents into a configuration that minimizes either (i) the radius of a ball containing all agents, (ii) the maximum distance between any two agents, or (iii) the average distance between the agents. We prove that (i) is polynomial-time solvable, (ii) has a polynomial-time 2-approximation with a matching NP-hardness lower bound, while (iii) admits a polynomial-time 2(1 − 1 k)-approximation, but no FPTAS, unless P = NP. We extend some of our results to additive approximation.

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“…They presented algorithms for exploration of trees by k agents when the energy of each agent is augmented by a constant factor over the minimum energy B required per agent in the offline solution. Das et al [6] presented online algorithms that optimize the number of agents used for tree exploration when each agent has a fixed energy bound B. On the other hand, Dereniowski et al [14] gave an optimal time algorithm for exploring general graphs using a large number of agents.…”

Section: Related Workmentioning

confidence: 99%

“…This is particularly true for small battery operated robots or drones, for which the energy limitation is the real bottleneck. We consider a set of mobile agents where each agent i has a budget B i on the distance it can move, as in [2,3,4,5,6,7]. We model the environment as a directed or undirected edge-weighted graph G, with each agent starting on some vertex of G and traveling along edges of G, until it runs out of energy and stops forever.…”

Section: Introductionmentioning

confidence: 99%

Collaborative delivery on a fixed path with homogeneous energy-constrained agents

Chalopin

¹

,

Das

²

,

Disser

³

et al. 2021

Theoretical Computer Science

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0

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We consider the problem of collectively delivering a package from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent starts from some vertex of the graph; it can move along the edges of the graph and can can pick up the package from a vertex and drop it in another vertex during the course of its movement. However, each agent has limited energy budget allowing it to traverse a path of bounded length B; thus, multiple agents need to collaborate to move the package to its destination. Given the positions of the agents in the graph and their energy budgets, the problem of finding a feasible movement schedule is called the Collaborative Delivery problem and has been studied before.One of the open questions from previous results is what happens when the delivery must follow a fixed path given in advance. Although this special constraint reduces the search space for feasible solutions, we show that the problem of finding a feasible schedule remains NP hard (as the original problem). We consider the optimization version of the problem that asks for the optimal energy budget B per agent which allows for a feasible delivery schedule, given the initial positions of the agents. We show the existence of better approximations for the fixed-path version of the problem (at least for the restricted case of a single pickup per agent), compared to the known results for the general version of the problem.We provide polynomial time approximation algorithms for both directed and $ This work was partially supported by the ANR project ANCOR (anr-14-CE36-0002-01).

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“…They presented algorithms for exploration of trees by k agents when the energy of each agent is augmented by a constant factor over the minimum energy B required per agent in the offline solution. Das et al [6] presented online algorithms that optimize the number of agents used for tree exploration when each agent has a fixed energy bound B. On the other hand, Dereniowski et al [14] gave an optimal time algorithm for exploring general graphs using a large number of agents.…”

Section: Related Workmentioning

confidence: 99%

“…This is particularly true for small battery operated robots or drones, for which the energy limitation is the real bottleneck. We consider a set of mobile agents where each agent i has a budget B i on the distance it can move, as in [2,3,4,5,6,7]. We model the environment as a directed or undirected edge-weighted graph G, with each agent starting on some vertex of G and traveling along edges of G, until it runs out of energy and stops forever.…”

Section: Introductionmentioning

confidence: 99%

Collaborative Delivery on a Fixed Path with Homogeneous Energy-Constrained Agents

Chalopin

¹

,

Das

²

,

Disser

³

et al. 2019

Structural Information and Communication Complexity

Self Cite

0

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We consider the problem of collectively delivering a package from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent starts from some vertex of the graph; it can move along the edges of the graph and can can pick up the package from a vertex and drop it in another vertex during the course of its movement. However, each agent has limited energy budget allowing it to traverse a path of bounded length B; thus, multiple agents need to collaborate to move the package to its destination. Given the positions of the agents in the graph and their energy budgets, the problem of finding a feasible movement schedule is called the Collaborative Delivery problem and has been studied before.One of the open questions from previous results is what happens when the delivery must follow a fixed path given in advance. Although this special constraint reduces the search space for feasible solutions, we show that the problem of finding a feasible schedule remains NP hard (as the original problem). We consider the optimization version of the problem that asks for the optimal energy budget B per agent which allows for a feasible delivery schedule, given the initial positions of the agents. We show the existence of better approximations for the fixed-path version of the problem (at least for the restricted case of a single pickup per agent), compared to the known results for the general version of the problem.We provide polynomial time approximation algorithms for both directed and $ This work was partially supported by the ANR project ANCOR (anr-14-CE36-0002-01).

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Collaborative Exploration by Energy-Constrained Mobile Robots

Cited by 19 publications

References 15 publications

Near-gathering of energy-constrained mobile agents

Near-gathering of energy-constrained mobile agents

Collaborative delivery on a fixed path with homogeneous energy-constrained agents

Collaborative Delivery on a Fixed Path with Homogeneous Energy-Constrained Agents

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