Multi-Robot-Multi-Target Path Planning and Position Estimation for Disaster area

Shin Nyeong Heo, Sheng Yu Lu, Ji Sun Shin, HeeHyol Lee

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

Abstract

This paper proposes a multi-robot-multi-target path planning for disaster area and position estimation. The A∗ algorithm is improved to reduce calculation time for multi-robots using a heap optimization and multi-robot-multi-target algorithm. Then, a position estimation using Kalman filter is used for accurate position estimation for multiple path planning.

Original languageEnglish
Title of host publication2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728119960
DOIs
Publication statusPublished - 2018 Nov 27
Event2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 - Busan, Korea, Republic of
Duration: 2018 Sep 62018 Sep 8

Other

Other2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018
CountryKorea, Republic of
CityBusan
Period18/9/618/9/8

Keywords

  • A∗ algorithm
  • Dijkstra's algorithm
  • heap sorting
  • Multi-robot-multi-target
  • Node based algorithm

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Electrical and Electronic Engineering
  • Control and Optimization
  • Communication

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  • Cite this

    Heo, S. N., Lu, S. Y., Shin, J. S., & Lee, H. (2018). Multi-Robot-Multi-Target Path Planning and Position Estimation for Disaster area. In 2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 [8549910] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICT-ROBOT.2018.8549910