HDec-POSMDPs MRS Exploration and Fire Searching Based on IoT Cloud Robotics

doi:10.1007/s11633-019-1187-6

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	HDec-POSMDPs MRS Exploration and Fire Searching Based on IoT Cloud Robotics
	Ayman El Shenawy 1; Khalil Mohamed1, Hany Harb 2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2020
卷号	17 期号:3 页码:364-377
摘要	The multi-robot systems (MRS) exploration and fire searching problem is an important application of mobile robots which require massive computation capability that exceeds the ability of traditional MRS′s. This paper propose a cloud-based hybrid decentralized partially observable semi-Markov decision process (HDec-POSMDPs) model. The proposed model is implemented for MRS exploration and fire searching application based on the Internet of things (IoT) cloud robotics framework. In this implementation the heavy and expensive computational tasks are offloaded to the cloud servers. The proposed model achieves a significant improvement in the computation burden of the whole task relative to a traditional MRS. The proposed model is applied to explore and search for fire objects in an unknown environment; using different sets of robots sizes. The preliminary evaluation of this implementation demonstrates that as the parallelism of computational instances increase the delay of new actuation commands which will be decreased, the mean time of task completion is decreased, the number of turns in the path from the start pose cells to the target cells is minimized and the energy consumption for each robot is reduced.
关键词	Multi-robot systems hybrid decentralized partially observable semi-Markov decision process (HDec-POSMDPs) multi-robot systems (MRS) exploration and fire searching cloud robotics cloud computing.
DOI	10.1007/s11633-019-1187-6
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42286
专题	学术期刊_Machine Intelligence Research
作者单位	1.Systems and Computers Engineering Department, Faculty of Engineering, Al-Azhar University, Cairo 11751, Egypt 2.Information Technology College, Misr University for Science and Technology (MUST), Cairo 77, Egypt
推荐引用方式 GB/T 7714	Ayman El Shenawy,Khalil Mohamed1, Hany Harb. HDec-POSMDPs MRS Exploration and Fire Searching Based on IoT Cloud Robotics[J]. International Journal of Automation and Computing,2020,17(3):364-377.
APA	Ayman El Shenawy,&Khalil Mohamed1, Hany Harb.(2020).HDec-POSMDPs MRS Exploration and Fire Searching Based on IoT Cloud Robotics.International Journal of Automation and Computing,17(3),364-377.
MLA	Ayman El Shenawy,et al."HDec-POSMDPs MRS Exploration and Fire Searching Based on IoT Cloud Robotics".International Journal of Automation and Computing 17.3(2020):364-377.

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