Planar multi-robot realizations of connectivity graphs using genetic algorithms

Haluk Bayram, H. Işil Bozma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper considers the problem of planar multirobot realizations of connectivity graphs. A realization is a set of planar positions for a team of robots with a connectivity graph that is identical to an a priori given connectivity graph with the additional constraint that it must be feasible. Feasibility means that that the robots must not be overlapping with each other. As the associated mathematical problem is known to be NP-hard, a stochastic approach based on genetic algorithms is proposed. First, a population set based on randomly generated planar and feasible multi-robot positions is generated. Next, a fitness function that measures the similarity of the graph of each member is constructed. Finally, new reproduction operators that enable the evolution of generations are introduced. An extensive statistical study with different number of robots demonstrates that the proposed algorithm can be used to obtain fairly complicated network topologies.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages5163-5168
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

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  • Cite this

    Bayram, H., & Bozma, H. I. (2010). Planar multi-robot realizations of connectivity graphs using genetic algorithms. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 5163-5168). [5649449] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5649449