A fitness-sharing based genetic algorithm for collaborative multi-robot localization

被引：3

作者：

Gasparri, Andrea ^{[1
]}

Panzieri, Stefano ^{[1
]}

Priolo, Attilio ^{[1
]}

机构：

[1] Univ Roma Tre, Dipartimento Informat & Automaz, Via Vasca Navale 79, I-00146 Rome, Italy

来源：

INTELLIGENT SERVICE ROBOTICS | 2010年 / 3卷 / 03期

关键词：

Multi-robot; Localization; Genetic algorithm; EXPLORATION; PARAMETERS;

D O I：

10.1007/s11370-010-0065-4

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, a novel genetic algorithm based on a "collaborative" fitness-sharing technique to deal with the multi-robot localization problem is proposed. Indeed, the use of the fitness-sharing is twofold and competitive. It preserves the diversity among individuals during the space exploration process, thus maintaining evolutionary niches over time, and reinforces the best hypotheses by means of collaboration among robots, thus augmenting the selection pressure. Simulations by exploiting the robotics framework Player/Stage have been performed along with a proper statistical analysis for performance assessment.

引用

页码：137 / 149

页数：13