Soft Computing

, Volume 21, Issue 21, pp 6481–6497 | Cite as

Multi-objective multi-robot deployment in a dynamic environment

  • Reza Javanmard Alitappeh
  • Kossar Jeddisaravi
  • Frederico G. Guimarães
Methodologies and Application


Finding a distribution of a group of robots in an environment is known as Deployment problem, which is one of the challenges in multi-robot systems. In real applications, the environment may change over time and thus deployment must be repeated periodically in order to redistribute the robots. In this paper, we propose a multi-objective optimization method to deploy/redeploy robots in the environment by considering two objectives for the deployment. One objective represents a good estimation of final positions, where the robots will be located, while the second objective is finding the shortest path from the robots initial location to these positions. Thus, our problem is modeled as a multi-objective optimization problem, which is approached with a multi-objective optimization evolutionary algorithm. To deal with the deployment problem, a discrete setup of locational optimization framework and Voronoi partitioning technique are employed. Simulation results on real application testify the performance of our proposed method in comparison with other methods.


Multi-robot deployment Multi-objective optimization Voronoi partitioning 



This work was supported by Brazilian agencies CAPES, CNPq and FAPEMIG. Reza Javanmard Alitappeh has received research grants from the Brazilian agency CNPq. Kossar Jeddisaravi has received research grants from the Brazilian agency CAPES. Frederico G. Guimarães is a faculty member of the Federal University of Minas Gerais and has received research grants from the Brazilian agencies CNPq and FAPEMIG.

Compliance with ethical standards

Conflict of interest

The authors declare that they have no conflict of interest.

Human and animal rights

This article does not contain any studies with human or animal subjects.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Reza Javanmard Alitappeh
    • 1
  • Kossar Jeddisaravi
    • 1
  • Frederico G. Guimarães
    • 1
  1. 1.Universidade Federal de Minas Gerais (UFMG)Belo HorizonteBrazil

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