This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target,with the aim of reducing the capture time.Compared with the previous algorithms,we assume that the...This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target,with the aim of reducing the capture time.Compared with the previous algorithms,we assume that the target can be detected by any robot and captured successfully by two or more robots.In this paper,we assume that each robot has a limited communication range.We maintain the robots within a mobile network to guarantee the successful capture.In addition,the motion of the target is modeled and incorporated into directing the motion of the robots to reduce the capture time.A coordination algorithm considering both aspects is proposed.This algorithm can greatly reduce the expected time of capturing the mobile target.Finally,we validate the algorithm by the simulations and experiments.展开更多
In this paper, we propose a new arc consistency algorithm, AC-8,which requires less computation time and space than AC-6 and AC-7. The main ideaof the optimization is the divide-and-conquer strategy, thereby decomposi...In this paper, we propose a new arc consistency algorithm, AC-8,which requires less computation time and space than AC-6 and AC-7. The main ideaof the optimization is the divide-and-conquer strategy, thereby decomposing an arcconsistency problem into a series of smaller ones and trying to solve them in sequence.In this way, not only the space complexity but also the time complexity can be reduced. The reason for this is that due to the ahead of time performed inconsistencypropagation (in the sense that some of them are executed before the entire inconsis-tency checking has been finished), each constraint subnetwork will be searched with agradually shrunk domain. In addition, the technique of AC-6 can be integrated intoour algorithm, leading to a further decrease in computational complexity.展开更多
基金supported by the National Natural Science Foundation of China(No.60434030)
文摘This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target,with the aim of reducing the capture time.Compared with the previous algorithms,we assume that the target can be detected by any robot and captured successfully by two or more robots.In this paper,we assume that each robot has a limited communication range.We maintain the robots within a mobile network to guarantee the successful capture.In addition,the motion of the target is modeled and incorporated into directing the motion of the robots to reduce the capture time.A coordination algorithm considering both aspects is proposed.This algorithm can greatly reduce the expected time of capturing the mobile target.Finally,we validate the algorithm by the simulations and experiments.
文摘In this paper, we propose a new arc consistency algorithm, AC-8,which requires less computation time and space than AC-6 and AC-7. The main ideaof the optimization is the divide-and-conquer strategy, thereby decomposing an arcconsistency problem into a series of smaller ones and trying to solve them in sequence.In this way, not only the space complexity but also the time complexity can be reduced. The reason for this is that due to the ahead of time performed inconsistencypropagation (in the sense that some of them are executed before the entire inconsis-tency checking has been finished), each constraint subnetwork will be searched with agradually shrunk domain. In addition, the technique of AC-6 can be integrated intoour algorithm, leading to a further decrease in computational complexity.
