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Mission Design of a Team of Service Robots

Mission Design of a Team of Service Robots
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Author(s): Elias K. Xidias (University of the Aegean, Greece), Nikos A. Aspragathos (University of Patras, Greece)and Philip N. Azariadis (University of the Aegean, Greece)
Copyright: 2015
Pages: 22
Source title: Handbook of Research on Advancements in Robotics and Mechatronics
Source Author(s)/Editor(s): Maki K. Habib (The American University in Cairo, Egypt)
DOI: 10.4018/978-1-4666-7387-8.ch023

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Abstract

The purpose of this chapter is to present an integrated approach for Mission Design of a team of Service Robots that is operating in partially known indoor environments such as libraries, hospitals, or warehouses. The robots are requested to serve a number of service stations while taking into account movement safety and other kinematical constraints. The Bump-Surface concept is used to represent the robots' environment through a single mathematical entity and an optimization problem is formulated representing an aggregation of paths length and movement constraints. Then a modified Genetic Algorithm with parallel populations is used for solving the problem of mission design of a team of service robots on the constructed Bump-Surface. Three simulation examples are presented to show the effectiveness of the presented approach.

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