Information Technology Reference
In-Depth Information
Mean steps per team with a probability of communication failure of 0.9
Mean steps per team with a probability of communication failure of 1e-05
Map 1
Map 2
500
600
Map 1
Map 2
500
400
400
300
300
200
200
100
100
0
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
Fig. 7.
Comparative between the two maps and the method presented
Finally, Fig. 8 displays how the probability of communication failure affects
the results. It can be noticed that the average steps needed for a complete in-
spection process when the communication failure probability is intermediate are
very close to the steps needed when the probability of communication failure is
very small, i.e. our method is tolerant to communication failure.
Mean steps per team in Map1
Probability of
co
mmunication failure
0.9
0.4
1e-05
Mean steps per team in Map2
Probability o
f c
ommunication failure
0.9
0.4
1e-05
(b)
Map 2
Fig. 8.
Comparative between the two maps and different probability of communication
failure
(a)
Map 1
4 Conclusions and Future Work
A novel, selective method based on auctions for map inspection by teams of
robotic agents has been proposed. The experiments conducted show that the
selective method improves a random behavior, which could be very useful in
places with communication problems. The method is able to inspect in finite
time, pipe or sewer environments modeled as a graph. A provided framework for
Search WWH ::
Custom Search