Abstract
In this paper we address the problem of finding an object in a polygonal environment as quickly as possible on average, with a team of mobile robots that can sense the environment.
We show that for this problem, a trajectory that minimizes the distance traveled may not minimize the expected value of the time to find the object. We prove the problem to be NP-hard by reduction, therefore, we propose the heuristic of a utility function. We use this utility function to drive a greedy algorithm in a reduced search space that is able to explore several steps ahead without incurring too high a computational cost. We have implemented this algorithm and present simulation results for a multi-robot scheme.
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© 2004 Springer-Verlag Berlin Heidelberg
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Sarmiento, A., Murrieta-Cid, R., Hutchinson, S. (2004). A Multi-robot Strategy for Rapidly Searching a Polygonal Environment. In: Lemaître, C., Reyes, C.A., González, J.A. (eds) Advances in Artificial Intelligence – IBERAMIA 2004. IBERAMIA 2004. Lecture Notes in Computer Science(), vol 3315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30498-2_48
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DOI: https://doi.org/10.1007/978-3-540-30498-2_48
Publisher Name: Springer, Berlin, Heidelberg
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