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

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.

@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},
  volume    = {10},
  number    = {5},
  year      = {2019},
  publisher = {The Science and Information Organization},
  author    = {Cindy Calderon-Arce and Rebeca Solis-Ortega},
  doi       = {10.14569/IJACSA.2019.0100586},
  url       = {https://doi.org/10.14569/IJACSA.2019.0100586}
}