NDLI: Classifying the Heterogeneous Multi-Robot online search problem into quadratic time competitive complexity class

Content Provider	IEEE Xplore Digital Library
Author	Sarid, S. Shapiro, A. Rimon, E. Edan, Y.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, Ben-Gurion University of the Negev, P.O. Box 653, Beer-Sheva, 84105, Israel (Sarid, S.; Shapiro, A.) \|\| Department of Mechanical Engineering, Technion - Israel Institute of Technology, Technion City, Haifa 32000, Israel (Rimon, E.) \|\| Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, P.O. Box 653, Beer-Sheva 84105, Israel (Edan, Y.)
Abstract	We explore the problem where a group of robots with different velocities search for a target in an unbounded unknown environment. The target position is unknown, hence, an online search algorithm is developed. The H-MRSTM algorithm (Heterogeneous Multi-Robot Search Time Multiplication), launches a group of n robots from a common starting location to search for the target. The robots are assigned to search inside a series of concentric discs with increasing radii. Each robot is assigned to search inside a disc and when completing the search inside this disc without finding the target, the robot is assigned to search in the next unoccupied disc. We prove that every algorithm that solves this search problem must have at least a quadratic time competitive complexity and prove that the H-MRSTM algorithm's complexity is also quadratic. Hence, we obtain both an upper and lower bound on the time competitive complexity of the search problem. Consequently, H-MRSTM is proved to be optimal. Simulations in various environments show that the average case performance of H-MRSTM is superior to that of homogeneous multi-robot and single robot algorithms. In depth simulation analyses evaluated the effect of several other parameters such as the initial disc search time, the distribution of the velocities, the number of robots and the position of the target.
Starting Page	4962
Ending Page	4967
File Size	381252
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980514
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Complexity theory Robot kinematics Upper bound Analytical models
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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