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International Conference on Intelligent Autonomous Systems

IAS 2016: Intelligent Autonomous Systems 14 pp 615–628Cite as

Partitioning Strategies for Multi-robot Area Coverage with No Communication

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

Abstract

In this paper, we model topology-based partitioning strategies for multi-robot area coverage with no communication as a balanced graph partitioning problem, which is subject to connectivity and reliability requirements. We formalise it as a combinatorial optimisation problem, propose a generalised formulation that encompasses its most relevant features, and we introduce two variants of the basic problem. Furthermore, we discuss a metaheuristic solution method based on a hybrid Ant Colony Optimisation approach. Finally, the performance of the solution is validated using simulations.

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Authors and Affiliations

  1. University of Genoa, Genoa, Italy

    Cristiano Nattero & Fulvio Mastrogiovanni

Authors
  1. Cristiano Nattero
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  2. Fulvio Mastrogiovanni
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Corresponding author

Correspondence to Fulvio Mastrogiovanni .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Nattero, C., Mastrogiovanni, F. (2017). Partitioning Strategies for Multi-robot Area Coverage with No Communication. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_45

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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