Multi-Robot Box-Pushing in Presence of Measurement Noise

Rakshit, P. and Konar, A. and Nagar, Atulya K. (2016) Multi-Robot Box-Pushing in Presence of Measurement Noise. In: IEEE Congress on Evolutionary Computation 2016, 24-29 July 2016, Vancouver, Canada.

[img]
Preview
Text
6. CEC-16879-Multi-Robot Box-Pushing in Presence of Measurement Noise.pdf

Download (755kB) | Preview
Official URL: http://ieeexplore.ieee.org/document/7744422/

Abstract

Real-world multi-robot co-ordination problems, involving system (robot) design, control, and planning are often formulated in the settings of an optimization problem with a view to maximize system throughput/efficiency under the constraints on system resources. The paper aims at solving a multi-robot box-pushing problem in the presence of noisy sensory data using evolutionary algorithm. The process of co-ordination among multiple robots is characterized by a set of measurements and a set of estimators with a mathematical relationship between them (captured by the objective function). In the box-pushing problem by twin robots, the range data obtained by the robots at any instant of time are measurements, and the torque and/or force to be developed by the robots for a local movement of the box are estimators. We here use torques and forces developed by the robots to construct two objectives on minimization of energy consumed and time required for a local movement of the box in the presence of noisy sensory data. The box-pushing problem is solved using the proposed extended noisy non-dominated sorting bee colony (ENNSBC) algorithm to handle noise in the objective surfaces. Experiments undertaken in both simulation and real-world platforms reveal the superiority of the proposed ENNSBC to other competitor algorithms to solve the box-pushing problem with respect to the performance metrics defined in the literature.

Item Type: Conference or Workshop Item (Paper)
Additional Information and Comments: (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works."
Keywords: Keywords—multi-robot box-pushing; energy consumption; time requirement; measurement noise; multi-objective optimization.
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Atulya Nagar
Date Deposited: 09 Jun 2016 11:47
Last Modified: 24 Nov 2016 11:40
URI: http://hira.hope.ac.uk/id/eprint/1419

Actions (login required)

View Item View Item