Robot Path Planning and Cooperation

1. Front Matter

   Pages i-xix

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2. Global Robot Path Planning

   1. Front Matter

      Pages 1-1

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   2. Introduction to Mobile Robot Path Planning

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 3-12

   3. Background on Artificial Intelligence Algorithms for Global Path Planning

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 13-51

   4. Design and Evaluation of Intelligent Global Path Planning Algorithms

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 53-81

   5. Integration of Global Path Planners in ROS

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 83-102

   6. Robot Path Planning Using Cloud Computing for Large Grid Maps

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 103-126

3. Multi-robot Task Allocation

   1. Front Matter

      Pages 127-127

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   2. General Background on Multi-robot Task Allocation

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 129-144

   3. Different Approaches to Solve the MRTA Problem

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 145-168

   4. Performance Analysis of the MRTA Approaches for Autonomous Mobile Robot

      • Anis Koubaa, Hachemi Bennaceur, Imen Chaari, Sahar Trigui, Adel Ammar, Mohamed-Foued Sriti et al.

      Pages 169-188

4. Back Matter

   Pages 189-190

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This book presents extensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem. It is the first book to provide a comprehensive solution for using these techniques in large-scale environments containing randomly scattered obstacles. The research conducted resulted in tangible results both in theory and in practice. For path planning, new algorithms for large-scale problems are devised and implemented and integrated into the Robot Operating System (ROS). The book also discusses the parallelism advantage of cloud computing techniques to solve the path planning problem, and, for multi-robot task allocation, it addresses the task assignment problem and the multiple traveling salesman problem for mobile robots applications. In addition, four new algorithms have been devised to investigate the cooperation issues with extensive simulations and comparative performance evaluation. The algorithms are implemented and simulated in MATLAB and Webots.

• Computational Intelligence
• Intelligent Systems
• Robot Cooperation
• Robot Path Planning
• Robotics

• Prince Sultan University, Riyadh, Saudi Arabia

  Anis Koubaa

• College of Computer and Information Sciences, Al Imam Mohammad Ibn Saud Islamic University, Riyadh, Saudi Arabia

  Hachemi Bennaceur, Adel Ammar, Mohamed-Foued Sriti, Maram Alajlan

• University Campus of Manouba, Manouba, Tunisia

  Imen Chaari, Sahar Trigui

• College of Computers and Information Technology, Taif University, Taif, Saudi Arabia

  Omar Cheikhrouhou

• College of Computer and Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia

  Yasir Javed

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