Wireless Multihop Communications for Frontier cell based Multi-Robot Path Finding with Relay Robot Random Stopping 


Vol. 33,  No. 11, pp. 1030-1037, Nov.  2008


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  Abstract

This paper presents an algorithm for the path-finding problem in unknown environments with cooperative and commutative multi-robots. To verify the algorithm, we investigate the problem of escaping through the exit of a randomly generated maze by muti-robots. For the purpose, we adopt the so called frontier cells and cell utility functions, which were used in the exploration problem for the multi-robots. For the wireless communications among the mobile robots, we modify and utilize the so called the random basket routing, a kind of hop-by-hop opportunistic routing. A mobile robot, once it finds the exit, will choose its next action, either escape immediately or stay-and-relay the exit information for the others, where the robot takes one action based on a given probability. We investigate the optimal probability that minimizes the average escaping time (out of the maze to the exit) of a mobile robot.

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  Cite this article

[IEEE Style]

J. Jung and S. Kim, "Wireless Multihop Communications for Frontier cell based Multi-Robot Path Finding with Relay Robot Random Stopping," The Journal of Korean Institute of Communications and Information Sciences, vol. 33, no. 11, pp. 1030-1037, 2008. DOI: .

[ACM Style]

Jinhong Jung and Seong-Lyun Kim. 2008. Wireless Multihop Communications for Frontier cell based Multi-Robot Path Finding with Relay Robot Random Stopping. The Journal of Korean Institute of Communications and Information Sciences, 33, 11, (2008), 1030-1037. DOI: .

[KICS Style]

Jinhong Jung and Seong-Lyun Kim, "Wireless Multihop Communications for Frontier cell based Multi-Robot Path Finding with Relay Robot Random Stopping," The Journal of Korean Institute of Communications and Information Sciences, vol. 33, no. 11, pp. 1030-1037, 11. 2008.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880