Competitive on-line coverage of grid environments by a mobile robot

Gabriely, Y.; Rimon, Elon

doi:10.1016/s0925-7721(02)00110-4

Cited by 115 publications

(86 citation statements)

References 9 publications

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“…Online variants of TSP (for a single agent) have been studied in various contexts. For example, the geometric setting of exploring grid graphs with and without holes is considered by [10,11,14,15,17], where a variety of competitive algorithms with constant competitive ratios is provided. A related setting is studied in [4], where an agent has to explore a graph while being attached to the starting point by a rope of restricted length.…”

Section: Related Workmentioning

confidence: 99%

Fast collaborative graph exploration

Dereniowski

Disser

Kosowski

et al. 2015

Information and Computation

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We study the following scenario of online graph exploration. A team of k agents is initially located at a distinguished vertex r of an undirected graph. At every time step, each agent can traverse an edge of the graph. All vertices have unique identifiers, and upon entering a vertex, an agent obtains the list of identifiers of all its neighbors. We ask how many time steps are required to complete exploration, i.e., to make sure that every vertex has been visited by some agent.We consider two communication models: one in which all agents have global knowledge of the state of the exploration, and one in which agents may only exchange information when simultaneously located at the same vertex. As our main result, we provide the first strategy which performs exploration of a graph with n vertices at a distance of at most D from r in time O(D), using a team of agents of polynomial size k = Dn 1+ < n 2+ , for any > 0. Our strategy works in the local communication model, without knowledge of global parameters such as n or D.We also obtain almost-tight bounds on the asymptotic relation between exploration time and team size, for large k.

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Section: Related Workmentioning

confidence: 99%

Fast collaborative graph exploration

Dereniowski

Disser

Kosowski

et al. 2015

Information and Computation

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“…The authors use the ST based approximation for creating the cycle, which assumes that the original graph is complete. Our approach, on the other hand, provides an optimal solution in the same sense, and moreover -provides uniform optimal solution for grid based graphs (under Gabrieli and Rimon's initial assumptions in [9]). A survey by Almeida et.…”

Section: Introductionmentioning

confidence: 85%

Multi-robot area patrol under frequency constraints

Elmaliach

Agmon

Kaminka

2009

Ann Math Artif Intell

134

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Abstract-This paper discusses the problem of generating patrol paths for a team of mobile robots inside a designated target area. Patrolling requires an area to be visited repeatedly by the robot(s) in order to monitor its current state. First, we present frequency optimization criteria used for evaluation of patrol algorithms. We then present a patrol algorithm that guarantees maximal uniform frequency, i.e., each point in the target area is covered at the same optimal frequency. This solution is based on finding a circular path that visits all points in the area, while taking into account terrain directionality and velocity constraints. Robots are positioned uniformly along this path, using a second algorithm. Moreover, the solution is guaranteed to be robust in the sense that uniform frequency of the patrol is achieved as long as at least one robot works properly.

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“…In this new version of STC, the spanning tree is stored in the onboard memory, which results in a dependency of the search area on memory size. With the aim of resolving the memory problem, Gabriely and Rimon propose in [21] the ant-like STC which forms the third version of the basic STC algorithm, that uses markers on visited cells. D-STC is introduced in [21] to solve the problem of uncovered partially occupied 2D-size cells, by visiting the previously uncovered cells, which results in worst-case scenarios, a twice coverage of the environment area.…”

Section: Related Workmentioning

confidence: 99%

“…With the aim of resolving the memory problem, Gabriely and Rimon propose in [21] the ant-like STC which forms the third version of the basic STC algorithm, that uses markers on visited cells. D-STC is introduced in [21] to solve the problem of uncovered partially occupied 2D-size cells, by visiting the previously uncovered cells, which results in worst-case scenarios, a twice coverage of the environment area. A generalization of STC to multi-robots is given in [22], the MSTC, in which a spanning tree is computed, and then it is circumnavigated by each robot.…”

Section: Related Workmentioning

confidence: 99%

Stigmergic MASA: A Stigmergy Based Algorithm for Multi-Target Search

Zedadra¹,

Séridi²,

Jouandeau³

et al. 2014

Annals of Computer Science and Information Systems

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Abstract-We explore the on-line problem of coverage where multiple agents have to find a target whose position is unknown, and without a prior global information about the environment. In this paper a novel algorithm for multi-target search is described, it is inspired from water vortex dynamics and based on the principle of pheromone-based communication. According to this algorithm, called S-MASA (Stigmergic Multi Ant Search Area), the agents search nearby their base incrementally using turns around their center and around each other, until the target is found, with only a group of simple distributed cooperative Ant like agents, which communicate indirectly via depositing/detecting markers. This work improves the search performance in comparison with random walk and S-random walk (stigmergic random walk) strategies, we show the obtained results using computer simulations.

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Competitive on-line coverage of grid environments by a mobile robot

Cited by 115 publications

References 9 publications

Fast collaborative graph exploration

Fast collaborative graph exploration

Multi-robot area patrol under frequency constraints

Stigmergic MASA: A Stigmergy Based Algorithm for Multi-Target Search

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