Papers Submitted to WSEAS Conferences and WSEAS Journals: Wseas Transactions

Monday 22 March 2010

Wseas Transactions

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The following information was submitted:

Transactions: INTERNATIONAL JOURNAL of CIRCUITS, SYSTEMS and SIGNAL PROCESSING
Transactions ID Number: 19-282
Full Name: Mohammad Al-khawaldah
Position: Researcher
Age: ON
Sex: Male
Address: 9 chilterns, hatfield, hertfordshire AL10 8JU
Country: UNITED KINGDOM
Tel:
Tel prefix:
Fax:
E-mail address: m.m.d.al-khawaldah@herts.ac.uk
Other E-mails: engmohd77@yahoo.com
Title of the Paper: frontier-based exploration with two cooperating mobile robots
Authors as they appear in the Paper: Mohammad Al-khawaldah, Salvatore Livatino, David c. Lee
Email addresses of all the authors: m.m.d.al-khawaldah@herts.ac.uk, S.Livatino@herts.ac.uk, d.c.lee@herts.ac.uk
Number of paper pages: 8
Abstract: Abstract: - In this paper, a frontier-based algorithm is used with two cooperating mobile robots to explore unknown environment. The aim is to decrease the exploration time. The proposed frontier-based exploration is based on a new bidding function in which we introduced a special parameter to decrease the overlap between the robots in addition to the utility and cost parameters. Tens of thousands experiments have been conducted, each experiment is executed with different weight values set, to see the relative importance of the weight parameters used in this technique. As a result of these experiments, the weight values can be chosen, according to the environment characteristics, to guarantee short exploration time. The proposed algorithm has been tested with a set of environments with different shapes and different numbers of obstacles. Finally, the results of our algorithm were compared with the results of one of known exploration algorithms available in the lite!
rature. The new technique led to promising results
Keywords: Cooperating robots, Exploration, Frontier, Multi-robot, Map building, Weight
EXTENSION of the file: .doc
Special (Invited) Session: weight parameters tuning for frontier-based cooperating robots exploration
Organizer of the Session: 640-505
How Did you learn about congress:
IP ADDRESS: 82.22.245.142

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