Abstract: We propose an efficient scheme based on a swarm robotics approach for exploring unknown environments. The initial goal is to trace a map which is later used to find optimal paths. The algorithm minimizes distance and danger. The proposed scheme consists in three phases: exploration, mapping and path optimization. A cellular automata approach is used for the simulation of the fist two phases. For the exploration phase, a stigmergy approach is applied in order to allow for swarm communication in a implicit way. For the path planning phase a hybrid method is proposed. First an adapted Rapidly-exploring Random Graph algorithm is used and then a scalarized multiobjective technique is applied to find the shortest path.

Cindy Calderon-Arce and Rebeca Solis-Ortega, “Swarm Robotics and Rapidly Exploring Random Graph Algorithms Applied to Environment Exploration and Path Planning” International Journal of Advanced Computer Science and Applications(IJACSA), 10(5), 2019. http://dx.doi.org/10.14569/IJACSA.2019.0100586

@article{Calderon-Arce2019,
title = {Swarm Robotics and Rapidly Exploring Random Graph Algorithms Applied to Environment Exploration and Path Planning},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2019.0100586},
url = {http://dx.doi.org/10.14569/IJACSA.2019.0100586},
year = {2019},
publisher = {The Science and Information Organization},
volume = {10},
number = {5},
author = {Cindy Calderon-Arce and Rebeca Solis-Ortega}
}