TY - GEN
T1 - Agent-based simulations for multi-robot systems exploration of tree-like environments
AU - Konak, Abdullah
AU - Cabrera-Mora, Flavio
AU - Kulturel-Konak, Sadan
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, an agent-based simulation model is proposed to explore an unknown tree with arbitrary edge distances by a set of robots which are initially located at the root of the tree and expected to return back to the root after all nodes are explored. The proposed algorithm depends only on local information stored at nodes using a bookkeeping token left at nodes by robots. It is shown that the proposed algorithm with the Earliest Selection Policy (ESP) is superior to using Random Selection Policy (RSP). The proposed agents-based simulation can be used to study general cases of network and tree exploration problems by multiple robots.
AB - In this paper, an agent-based simulation model is proposed to explore an unknown tree with arbitrary edge distances by a set of robots which are initially located at the root of the tree and expected to return back to the root after all nodes are explored. The proposed algorithm depends only on local information stored at nodes using a bookkeeping token left at nodes by robots. It is shown that the proposed algorithm with the Earliest Selection Policy (ESP) is superior to using Random Selection Policy (RSP). The proposed agents-based simulation can be used to study general cases of network and tree exploration problems by multiple robots.
UR - http://www.scopus.com/inward/record.url?scp=85062561992&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062561992&partnerID=8YFLogxK
U2 - 10.1109/RCAR.2018.8621759
DO - 10.1109/RCAR.2018.8621759
M3 - Conference contribution
AN - SCOPUS:85062561992
T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
SP - 172
EP - 176
BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Y2 - 1 August 2018 through 5 August 2018
ER -