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Multi-robot Optimal Deployment Planning Under Communication Constraints

  • Yaroslav MarchukovEmail author
  • Luis Montano
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 417)

Abstract

In this paper, we address the problem of optimal multi-robot team deployment while maintaining communication for all the robots. The objective is to execute the mission of reaching several goals with minimal number of robots, as well as reducing the total distance travelled to reach the goals. Therefore, we develop an algorithm that computes some secondary or virtual goals to move robots enhancing the coverage over the map. Due to the presence of obstacles, we study the use of different criteria in order to add more flexibility to the optimization in terms of travelled distance or relay nodes saving.

Keywords

Communication constraints Graph connectivity Multi-robot Optimal deployment 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Aragon Institute for Engineering Research (I3A)University of ZaragozaZaragozaSpain

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