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Guaranteed-Performance Multi-robot Routing under Limited Communication Range

  • Alejandro R. Mosteo
  • Luis Montano
  • Michail G. Lagoudakis

Abstract

A common assumption made in multi-robot research is that robots operate in a fully networked environment, where any two robots can communicate reliably at any time. However, in real-world missions over large geographical areas robots have a limited communication range and signal propagation conditions may be unpredictable due to obstacles or interferences. In such cases, communication limitations must be taken explicitly into account. In this paper, we present a multirobot routing algorithmfor dense environments under limited communication range. We focus on the aspect of careful mission planning in order to guarantee continuous connectivity and mission completeness, while offering a guarantee on performance under a variety of team objectives. The proposed algorithms are demonstrated in a large-scale domain using realistic simulations on the Player/Stage platform.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Alejandro R. Mosteo
    • 1
  • Luis Montano
    • 1
  • Michail G. Lagoudakis
    • 2
  1. 1.Instituto de Investigación en Ingeniería de AragónUniversity of ZaragozaZaragozaSpain
  2. 2.Department of Electronic and Computer EngineeringTechnical University of CreteChaniaGreece

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