Internal Rehearsals for a Reconfigurable Robot to Improve Area Coverage Performance

IF 7.2 4区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
S. M. Bhagya P. Samarakoon, M. A. Viraj J. Muthugala, Mohan Rajesh Elara
{"title":"Internal Rehearsals for a Reconfigurable Robot to Improve Area Coverage Performance","authors":"S. M. Bhagya P. Samarakoon, M. A. Viraj J. Muthugala, Mohan Rajesh Elara","doi":"10.1145/3643854","DOIUrl":null,"url":null,"abstract":"<p>Reconfigurable robots are deployed for applications demanding area coverage, such as cleaning and inspections. Reconfiguration per context, considering beyond a small set of predefined shapes, is crucial for area coverage performance. However, the existing area coverage methods of reconfigurable robots are not always effective and require improvements for ascertaining the intended goal. Therefore, this paper proposes a novel coverage strategy based on internal rehearsals to improve the area coverage performance of a reconfigurable robot. In this regard, a reconfigurable robot is embodied with the cognitive ability to predict the outcomes of its actions before executing them. A genetic algorithm uses the results of the internal rehearsals to determine a set of the robot’s coverage parameters, including positioning, heading, and reconfiguration, to maximize coverage in an obstacle cluster encountered by the robot. The experimental results confirm that the proposed method can significantly improve the area coverage performance of a reconfigurable robot.</p>","PeriodicalId":48967,"journal":{"name":"ACM Transactions on Intelligent Systems and Technology","volume":null,"pages":null},"PeriodicalIF":7.2000,"publicationDate":"2024-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ACM Transactions on Intelligent Systems and Technology","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1145/3643854","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
引用次数: 0

Abstract

Reconfigurable robots are deployed for applications demanding area coverage, such as cleaning and inspections. Reconfiguration per context, considering beyond a small set of predefined shapes, is crucial for area coverage performance. However, the existing area coverage methods of reconfigurable robots are not always effective and require improvements for ascertaining the intended goal. Therefore, this paper proposes a novel coverage strategy based on internal rehearsals to improve the area coverage performance of a reconfigurable robot. In this regard, a reconfigurable robot is embodied with the cognitive ability to predict the outcomes of its actions before executing them. A genetic algorithm uses the results of the internal rehearsals to determine a set of the robot’s coverage parameters, including positioning, heading, and reconfiguration, to maximize coverage in an obstacle cluster encountered by the robot. The experimental results confirm that the proposed method can significantly improve the area coverage performance of a reconfigurable robot.

为可重构机器人进行内部演练以提高区域覆盖性能
可重构机器人被部署在清洁和检查等要求区域覆盖的应用中。根据具体情况进行重新配置,不局限于一小部分预定义的形状,这对区域覆盖性能至关重要。然而,现有的可重构机器人区域覆盖方法并不总是有效的,需要加以改进才能确定预期目标。因此,本文提出了一种基于内部演练的新型覆盖策略,以提高可重构机器人的区域覆盖性能。在这方面,可重构机器人具有认知能力,能在执行行动前预测行动结果。遗传算法利用内部演练的结果来确定机器人的一组覆盖参数,包括定位、航向和重新配置,以最大限度地覆盖机器人遇到的障碍物集群。实验结果证实,所提出的方法能显著提高可重构机器人的区域覆盖性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
ACM Transactions on Intelligent Systems and Technology
ACM Transactions on Intelligent Systems and Technology COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-COMPUTER SCIENCE, INFORMATION SYSTEMS
CiteScore
9.30
自引率
2.00%
发文量
131
期刊介绍: ACM Transactions on Intelligent Systems and Technology is a scholarly journal that publishes the highest quality papers on intelligent systems, applicable algorithms and technology with a multi-disciplinary perspective. An intelligent system is one that uses artificial intelligence (AI) techniques to offer important services (e.g., as a component of a larger system) to allow integrated systems to perceive, reason, learn, and act intelligently in the real world. ACM TIST is published quarterly (six issues a year). Each issue has 8-11 regular papers, with around 20 published journal pages or 10,000 words per paper. Additional references, proofs, graphs or detailed experiment results can be submitted as a separate appendix, while excessively lengthy papers will be rejected automatically. Authors can include online-only appendices for additional content of their published papers and are encouraged to share their code and/or data with other readers.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信