Cleaning Area Division Algorithm for Power Minimized Multi-Cleanup Robots Based on Nash Bargaining Solution 


Vol. 39,  No. 4, pp. 400-406, Apr.  2014


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  Abstract

In this paper, we propose an approach to minimizing total power consumption by deploying multiple clean-up robots simultaneously in a given area. For this, we propose to use the cooperative game theoretic approaches (i.e., Nash bargaining solution (NBS)) such that the robots can optimally and fairly negotiate the area division based on available resources and characteristics of the area, thereby leading to the minimum total power consumption. We define a utility function that includes power consumptions for characteristics of areas and the robots can agree on a utility pair based on the NBS. Simulation results show that the proposed approach can reduce the total average power consumption by 15-30% compared to a random area division approach.

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  Cite this article

[IEEE Style]

J. Choi and H. Park, "Cleaning Area Division Algorithm for Power Minimized Multi-Cleanup Robots Based on Nash Bargaining Solution," The Journal of Korean Institute of Communications and Information Sciences, vol. 39, no. 4, pp. 400-406, 2014. DOI: .

[ACM Style]

Jisoo Choi and Hyunggon Park. 2014. Cleaning Area Division Algorithm for Power Minimized Multi-Cleanup Robots Based on Nash Bargaining Solution. The Journal of Korean Institute of Communications and Information Sciences, 39, 4, (2014), 400-406. DOI: .

[KICS Style]

Jisoo Choi and Hyunggon Park, "Cleaning Area Division Algorithm for Power Minimized Multi-Cleanup Robots Based on Nash Bargaining Solution," The Journal of Korean Institute of Communications and Information Sciences, vol. 39, no. 4, pp. 400-406, 4. 2014.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880