Multi-Robot traveling problem constrained by connectivity

Authors:
Cheng Hu;Yun Wang;Fei Ben
Affiliations:
School of Computer Science and Engineering, Southeast University, Nanjing, China;School of Computer Science and Engineering, Southeast University, Nanjing, China;School of Computer Science and Engineering, Southeast University, Nanjing, China
Venue:
ICPCA/SWS'12 Proceedings of the 2012 international conference on Pervasive Computing and the Networked World
Year:
2012

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Abstract

Multi-robot system provides more advantages over a single robot. In certain situations, robots need to maintain global connectivity while proceeding tasks such as traveling some interested spots in an area. This paper formulates the Multi-Robot Traveling Problem Constrained by Connectivity, and proposes a Connected Nearest Neighbor solution aiming to minimize the total traveling distance of the robots, which performs nearly twice better than previous work. Additionally, it is load balancing, fast in response, and robust to environmental dynamics and robot failures. Further improvements of the solution are also discussed and developed. Simulations are designed to investigate the cost of maintaining connectivity, the influence of different environments, and the comparison among the algorithms.