The Science and Information (SAI) Organization
  • Home
  • About Us
  • Journals
  • Conferences
  • Contact Us

Publication Links

  • IJACSA
  • Author Guidelines
  • Publication Policies
  • Digital Archiving Policy
  • Promote your Publication
  • Metadata Harvesting (OAI2)

IJACSA

  • About the Journal
  • Call for Papers
  • Editorial Board
  • Author Guidelines
  • Submit your Paper
  • Current Issue
  • Archives
  • Indexing
  • Fees/ APC
  • Reviewers
  • Apply as a Reviewer

IJARAI

  • About the Journal
  • Archives
  • Indexing & Archiving

Special Issues

  • Home
  • Archives
  • Proposals
  • Guest Editors
  • SUSAI-EE 2025
  • ICONS-BA 2025
  • IoT-BLOCK 2025

Future of Information and Communication Conference (FICC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Computing Conference

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Intelligent Systems Conference (IntelliSys)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Future Technologies Conference (FTC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact
  • Home
  • Call for Papers
  • Editorial Board
  • Guidelines
  • Submit
  • Current Issue
  • Archives
  • Indexing
  • Fees
  • Reviewers
  • Subscribe

DOI: 10.14569/IJACSA.2019.0100586
PDF

Swarm Robotics and Rapidly Exploring Random Graph Algorithms Applied to Environment Exploration and Path Planning

Author 1: Cindy Calderon-Arce
Author 2: Rebeca Solis-Ortega

International Journal of Advanced Computer Science and Applications(IJACSA), Volume 10 Issue 5, 2019.

  • Abstract and Keywords
  • How to Cite this Article
  • {} BibTeX Source

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.

Keywords: Swarm robotics; cellular automata; path planning; Rapidly-exploring Random Graph (RRG); scalarized multiobjective optimization

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}
}



Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

IJACSA

Upcoming Conferences

IntelliSys 2025

28-29 August 2025

  • Amsterdam, The Netherlands

Future Technologies Conference 2025

6-7 November 2025

  • Munich, Germany

Healthcare Conference 2026

21-22 May 2026

  • Amsterdam, The Netherlands

Computing Conference 2026

9-10 July 2026

  • London, United Kingdom

IntelliSys 2026

3-4 September 2026

  • Amsterdam, The Netherlands

Computer Vision Conference 2026

15-16 October 2026

  • Berlin, Germany
The Science and Information (SAI) Organization
BACK TO TOP

Computer Science Journal

  • About the Journal
  • Call for Papers
  • Submit Paper
  • Indexing

Our Conferences

  • Computing Conference
  • Intelligent Systems Conference
  • Future Technologies Conference
  • Communication Conference

Help & Support

  • Contact Us
  • About Us
  • Terms and Conditions
  • Privacy Policy

© The Science and Information (SAI) Organization Limited. All rights reserved. Registered in England and Wales. Company Number 8933205. thesai.org