The effects of exploration strategies and communication models on the performance of cooperative exploration

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dc.authoridTuna, Gurkan/0000-0002-6466-4696;
dc.authorwosidTuna, Gurkan/AAG-4412-2019
dc.authorwosidbilge, derya/O-7696-2014
dc.contributor.authorTuna, Gurkan
dc.contributor.authorGulez, Kayhan
dc.contributor.authorGungor, V. Cagri
dc.date.accessioned2024-06-12T10:58:28Z
dc.date.available2024-06-12T10:58:28Z
dc.date.issued2013
dc.departmentTrakya Üniversitesien_US
dc.description.abstractExploration with mobile robots is utilized in a wide range of applications including search and rescue missions, planetary exploration, homeland security; surveillance, and reconnaissance. Cooperative exploration offers the potential of exploring an unknown zone more quickly and robustly than single-robot case. However, coordinating multiple robots is a challenging task due to heterogeneous processing and communication requirements, and the complexities of exploration algorithms. This paper presents a comparison of different cooperative exploration strategies, such as frontier-based exploration, market-driven exploration, and role-based exploration, based on their exploration performances and processing time requirements. To show the effect of CPU power on the processing time of the exploration algorithms, two notebooks and a netbook with different specifications have been extensively used. Comparative simulation results of our own application developed in Java show that the processing time requirements are consistent with the computational complexities of the exploration strategies. The results we obtained are consistent with the CPU power tests of independent organizations, and show that higher processing power reduces processing time accordingly. (C) 2012 Elsevier B.V. All rights reserved.en_US
dc.description.sponsorshipYildiz Technical University Scientific Research Projects Coordination Department [2010-04-02-ODAP01]en_US
dc.description.sponsorshipThis research has been supported by Yildiz Technical University Scientific Research Projects Coordination Department. Project Number: 2010-04-02-ODAP01.en_US
dc.identifier.doi10.1016/j.adhoc.2012.07.011
dc.identifier.endpage1941en_US
dc.identifier.issn1570-8705
dc.identifier.issn1570-8713
dc.identifier.issue7en_US
dc.identifier.scopus2-s2.0-84883461098en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1931en_US
dc.identifier.urihttps://doi.org/10.1016/j.adhoc.2012.07.011
dc.identifier.urihttps://hdl.handle.net/20.500.14551/20082
dc.identifier.volume11en_US
dc.identifier.wosWOS:000324843000005en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherElsevieren_US
dc.relation.ispartofAd Hoc Networksen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectCooperative Exploration Strategiesen_US
dc.subjectCommunication Modelsen_US
dc.subjectProcessing Time Requirementsen_US
dc.subjectExploration Performancesen_US
dc.subjectNetbeans IDEen_US
dc.subjectMultirobot Explorationen_US
dc.titleThe effects of exploration strategies and communication models on the performance of cooperative explorationen_US
dc.typeArticleen_US

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