1 research outputs found
A clustering market-based approach for multi-robot emergency response applications
In this paper, we address the problem of multi-robot
systems in emergency response applications, where a team of
robots/drones has to visit affected locations to provide rescue
services. In the literature, the most common approach is to
assign target locations individually to robots using centralized
or distributed techniques. The problem is that the computation
complexity increases significantly with the number of robots and
target locations. In addition, target locations may not be assigned
uniformly among the robots. In this paper, we propose, CMMTSP,
a clustering market-based approach that first groups
locations into clusters, then assigns clusters to robots using a
market-based approach. We formulate the problem as multipledepot
MTSP and address the multi-objective optimization of
three objectives namely, the total traveled distance, the maximum
traveled distance and the mission time. Simulations show that
CM-MTSP provides a better balance among the three objectives
as compared to a single objective optimization, in particular an
enhancement of the mission time, and reduces the execution time
to at least 80% as compared to a greedy approach.info:eu-repo/semantics/publishedVersio