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.
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Marchukov, Y., Montano, L. (2016). Multi-robot Optimal Deployment Planning Under Communication Constraints. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_52
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DOI: https://doi.org/10.1007/978-3-319-27146-0_52
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