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IROS
2009
IEEE

Data gathering tours for mobile robots

10 years 5 months ago
Data gathering tours for mobile robots
— We study a path planning problem which arises when multiple robots are used to gather data from stationary devices with wireless communication capabilities. Each device has a given communication range, and stores a fixed amount of data. The objective of the robots is to gather the data from these devices and to upload it to a base-station/gateway. We introduce a new optimization problem called the Data Gathering Problem (DGP). In DGP, the objective is to compute a tour for each robot in such a way that minimizes the time to collect data from all devices. In order to download the data from a device, a robot must visit a point within the communication range of the device. Then, it spends a fixed amount of time to download the data. Thus, the time to complete a tour depends on not only the travel time but also the time to download the data, and the number of devices visited along the tour. First, we study a special case of DGP where the robots’ motion is restricted to a curve whic...
Deepak Bhadauria, Volkan Isler
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Deepak Bhadauria, Volkan Isler
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