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Intelligent Service Robotics

, Volume 3, Issue 3, pp 137–149 | Cite as

A fitness-sharing based genetic algorithm for collaborative multi-robot localization

  • Andrea Gasparri
  • Stefano Panzieri
  • Attilio Priolo
Original Research Paper

Abstract

In this paper, a novel genetic algorithm based on a “collaborative” fitness-sharing technique to deal with the multi-robot localization problem is proposed. Indeed, the use of the fitness-sharing is twofold and competitive. It preserves the diversity among individuals during the space exploration process, thus maintaining evolutionary niches over time, and reinforces the best hypotheses by means of collaboration among robots, thus augmenting the selection pressure. Simulations by exploiting the robotics framework Player/Stage have been performed along with a proper statistical analysis for performance assessment.

Keywords

Multi-robot Localization Genetic algorithm 

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Copyright information

© Springer-Verlag 2010

Authors and Affiliations

  • Andrea Gasparri
    • 1
  • Stefano Panzieri
    • 1
  • Attilio Priolo
    • 1
  1. 1.Dipartimento di Informatica ed AutomazioneUniversità degli studi “Roma Tre”RomeItaly

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