Multi-objective approach for robot motion planning in search tasks

Jeddisaravi, Kossar; Alitappeh, Reza Javanmard; Pimenta, Luciano C. A.; Guimarães, Frederico Gadelha

doi:10.1007/s10489-015-0754-y

Cited by 43 publications

(20 citation statements)

References 41 publications

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“…The algorithm needs to avoid the repeated displacement of active nodes during movement and reduce the overlap with the static coverage areas. This problem can be transformed into a traveling salesman problem [21] to yield the approximate optimal solution.…”

Section: A Path Planning For Active Nodesmentioning

confidence: 99%

Utilizing Active Sensor Nodes in Smart Environments for Optimal Communication Coverage

Xie

Zhang

et al. 2019

IEEE Access

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Wireless sensor networks are widely used in smart environments to capture and detect the activities of human beings, and achieving reliable transmission between sensor nodes has become one of the main challenges of practical applications. This paper presents a scheme for path planning that is designed to achieve optimal coverage by using active nodes to periodically fill in the blank areas and to replace the failed nodes. This approach can effectively avoid uneven energy consumption while maintaining complete link states. Meanwhile, the curl field of the nodes is used to model the effects of the residual energy and the distance between nodes, thereby effectively relaxing the requirements on the spatial positions of the nodes. Experiments show that in the case of directional transmission, the proposed method demonstrates better performance than other algorithms in terms of the network lifecycle, coverage, and transmission reliability. This method can effectively address the problem of cross-node failure along the transmission paths in complex and dynamic networks.

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Section: A Path Planning For Active Nodesmentioning

confidence: 99%

Utilizing Active Sensor Nodes in Smart Environments for Optimal Communication Coverage

Xie

Zhang

et al. 2019

IEEE Access

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show abstract

“…However, the convincing theoretical optimum is hard to reach. For instance, different definition of threat may lead to a different optimal path [16]. Different artificial settings make it difficult to find a unified optimal path for the Voronoi diagram.…”

Section: Move Generator Based On 3d Real-time Path Planningmentioning

confidence: 99%

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

2020

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The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case.

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“…Durán and Aguilo [ 32 ] developed a fuzzy analytic hierarchy process (AHP)-based decision support system for selecting machine tools, and Kumru and Kumru [ 33 ] used a fuzzy analytic network process (ANP) model for the selection of 3D coordinate-measuring machines. Besides, a number of other models have been suggested to help experts in their robot selection decisions, such as the generalized interval-valued fuzzy TOPSIS [ 34 ], the fuzzy hierarchical TOPSIS [ 5 ], the weighted aggregated sum product assessment (WASPAS) [ 35 , 36 ], and the ELECTRE (Elimination and Choice Expressing the Reality) method [ 37 ].…”

Section: Literature Reviewmentioning

confidence: 99%

Robot Evaluation and Selection with Entropy-Based Combination Weighting and Cloud TODIM Approach

Wang

Miao

Cui

et al. 2018

Entropy

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Nowadays robots have been commonly adopted in various manufacturing industries to improve product quality and productivity. The selection of the best robot to suit a specific production setting is a difficult decision making task for manufacturers because of the increase in complexity and number of robot systems. In this paper, we explore two key issues of robot evaluation and selection: the representation of decision makers' diversified assessments and the determination of the ranking of available robots. Specifically, a decision support model which utilizes cloud model and TODIM (an acronym in Portuguese of interactive and multiple criteria decision making) method is developed for the purpose of handling robot selection problems with hesitant linguistic information. Besides, we use an entropy-based combination weighting technique to estimate the weights of evaluation criteria. Finally, we illustrate the proposed cloud TODIM approach with a robot selection example for an automobile manufacturer, and further validate its effectiveness and benefits via a comparative analysis. The results show that the proposed robot selection model has some unique advantages, which is more realistic and flexible for robot selection under a complex and uncertain environment.

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Multi-objective approach for robot motion planning in search tasks

Cited by 43 publications

References 41 publications

Utilizing Active Sensor Nodes in Smart Environments for Optimal Communication Coverage

Utilizing Active Sensor Nodes in Smart Environments for Optimal Communication Coverage

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Robot Evaluation and Selection with Entropy-Based Combination Weighting and Cloud TODIM Approach

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