AllelesLociand the Traveling Salesman Problem
Proceedings of the 1st International Conference on Genetic Algorithms
Cooperative Observation of Multiple Moving Targets: an algorithm and its formalization
International Journal of Robotics Research
A Multi-Objective Pareto-Optimal Solution to the Box-Pushing Problem by Mobile Robots
EMS '08 Proceedings of the 2008 Second UKSIM European Symposium on Computer Modeling and Simulation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mobile robots with active IR-optical sensing for remote gas detection and source localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On designing genetic algorithms for solving small- and medium-scale traveling salesman problems
SIDE'12 Proceedings of the 2012 international conference on Swarm and Evolutionary Computation
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Multi-robot systems are widely employed in various applications including industrial plant inspection. However, current research work mainly focuses on the methods of object detection, and rarely addresses task allocation and path-planning of multi-robot systems for industrial plant inspection. Therefore, a centralized method for multi-robot task allocation (MRTA) and path-planning to solve inspection problems is proposed in this paper. For the first time, the problem statement of the task allocation for inspection problems is formulated. This paper introduces the implementation of the algorithm based on A* and a novel Genetic Algorithm including the environment representation. The task allocation and path-planning are performed based on the assumption that the robots work in known environments. The proposed algorithm is tested in a simulation study derived from a large industrial site.