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Wireless Multihop Communications for Frontier cell based Multi-Robot Path Finding with Relay Robot Random Stopping  

Jung, Jin-Hong (연세대학교 전기전자공학부 무선자원최적화 연구실)
Kim, Seong-Lyun (연세대학교 전기전자공학부 무선자원최적화 연구실)
Publication Information
The Journal of Korean Institute of Communications and Information Sciences / v.33, no.11B, 2008 , pp. 1030-1037 More about this Journal
Abstract
This paper presents an algorithm for the path-finding problem in unknown environments with cooperative and commutative multi-robots. To verify the algorithm, we investigate the problem of escaping through the exit of a randomly generated maze by muti-robots. For the purpose, we adopt the so called frontier cells and cell utility functions, which were used in the exploration problem for the multi-robots. For the wireless communications among the mobile robots, we modify and utilize the so called the random basket routing, a kind of hop-by-hop opportunistic routing. A mobile robot, once it finds the exit, will choose its next action, either escape immediately or stay-and-relay the exit information for the others, where the robot takes one action based on a given probability. We investigate the optimal probability that minimizes the average escaping time (out of the maze to the exit) of a mobile robot.
Keywords
Wireless multihop communications; Multi-robot; Cooperative path finding; routing;
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