Efficient Multi-Robot Coverage of a Known Environment

This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks, using multiple robots can increase the efficiency of the area coverage in terms of minimizing the operational time and increase the robustness in the face of robot attrition. Unfortunately, the problem of finding an optimal solution for such an area coverage problem with multiple robots is known to be NP-complete. In this paper we present two approximation heuristics for solving the multi-robot coverage problem. The first solution presented is a direct extension of an efficient single robot area coverage algorithm, based on an exact cellular decomposition. The second algorithm is a greedy approach that divides the area into equal regions and applies an efficient single-robot coverage algorithm to each region. We present experimental results for two algorithms. Results indicate that our approaches provide good coverage distribution between robots and minimize the workload per robot, meanwhile ensuring complete coverage of the area.Comment: In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201

Self-tuning algorithms for the assignment of packet control units and handover parameters in GERAN

Esta tesis aborda el problema de la optimización automática de parámetros en redes de acceso radio basadas en GSM-EDGE Radio Access Network (GERAN). Dada la extensión del conjunto de parámetros que se puede optimizar, este trabajo se centra en dos de los procesos encargados de la gestión de la movilidad: el proceso de (re)selección de celda para servicios por conmutación de paquetes y el proceso de traspaso para servicios de voz por conmutación de circuitos

LIPIcs, Volume 244, ESA 2022, Complete Volume

LIPIcs, Volume 244, ESA 2022, Complete Volum

NOTIFICATION !!!

All the content of this special edition is retrieved from the conference proceedings published by the European Scientific Institute, ESI. http://eujournal.org/index.php/esj/pages/view/books The European Scientific Journal, ESJ, after approval from the publisher re publishes the papers in a Special edition