Hybrid IWD-DE:A Novel Approach to Model Cooperative Navigation Planning for Multi-robot in Unknown Dynamic Environment

The current study emphasizes inadequacies of earlier research findings on multi-robot navigation and offers a robust approach to guide the robots in an unknown dynamic workspace.To attain the objective,the Intelligent Water Drop(IWD)algorithm is combined with Differential Evolution(DE)in a new conceptual fashion to optimize the navigation path of multiple mobile robots.The hybrid IWD-DE,basic IWD and DE algorithms are then explored for multi-robot navigation in a dynamic workspace through simulation.The simulation outcomes demonstrate the competency of the proposed method to guide the robot in predicting the nature of the obstacle and to generate an optimal and safe trajectory in a dynamic workspace.The potency of the proposed algorithm is further validated through experimentation with fire bird robot in a real platform.The outcomes of the simulation and experimentation,by employing IWD-DE algorithm are compared with those of basic IWD and DE algorithm.The error estimated for Average Navigation Path Travelled(ANPT),Aggregate Navigation Path Deviation(ANPD)and number of turns between simulation and experimental results by employing IWD-DE is 8.96,9.09,and 11.13,respectively while reaching 16.43,28.61,29.15 for IWD,and 6.66,10.20,14.28 for DE.The efficiency of the proposed approach is further verified with the state-of-the-art in a dynamic workspace.The outcomes reveal the efficiency and flexibility of the proposed approach in resolving the multi-robot navigation problem as compared to the state-of-the-art in a dynamic workspace.

A Heuristic Algorithm for Core Selection in Multicast Routing

With the development of network multimedia technology, more and more real-time multimedia applications need to transmit information using multicast. The basis of multicast data transmission is to construct a multicast tree. The main problem concerning the construction of a shared multicast tree is selection of a root of the shared tree or the core point. In this paper, we propose a heuristic algorithm for core selection in multicast routing. The proposed algorithm selects core point by considering both delay and inter-destination delay variation. The simulation results show that the proposed algorithm performs better than the existing algorithms in terms of delay variation subject to the end-to-end delay bound. The mathematical time complexity and the execution time of the proposed algorithm are comparable to those of the existing algorithms.