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.
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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 Human and Digital Sciences > Mathematics and Computer Science |
| Depositing User: | Atulya Nagar |
| Date Deposited: | 09 Jun 2016 11:47 |
| Last Modified: | 24 Nov 2016 11:40 |
| URI: | https://hira.hope.ac.uk/id/eprint/1419 |
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