Path Planning and Task Assignment for Data Retrieval from Wireless Sensor Nodes Relying on Game-Theoretic Learning

Sotiris Papatheodorou, Michalis Smyrnakis, Tembine Hamidou, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team of robots and a set of targets (wireless sensor nodes), the planner computes all possible tours that each robot can make if it needs to visit a part of or the entire set of targets. Each segment of the tour relies on a minimum energy path planning algorithm. After the computation of all possible tour-segments, a utility function penalizing the overall energy consumption is formed. Rather than relying on the NP-hard Mobile Element Scheduling (MES) MILP problem, an approach using elements from game theory is employed. The suggested approach converges fast for most practical reasons thus allowing its utilization in near real time applications. Simulations are offered to highlight the efficiency of the developed algorithm.

Original languageEnglish (US)
Title of host publication2018 5th International Conference on Control, Decision and Information Technologies, CoDIT 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1073-1078
Number of pages6
ISBN (Electronic)9781538650653
DOIs
StatePublished - Jun 22 2018
Event5th International Conference on Control, Decision and Information Technologies, CoDIT 2018 - Thessaloniki, Greece
Duration: Apr 10 2018Apr 13 2018

Publication series

Name2018 5th International Conference on Control, Decision and Information Technologies, CoDIT 2018

Other

Other5th International Conference on Control, Decision and Information Technologies, CoDIT 2018
CountryGreece
CityThessaloniki
Period4/10/184/13/18

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Keywords

  • Distributed Optimization
  • Game-Theoretic Learning.
  • Multi-Agent Systems
  • Robotic Data Mule
  • Wireless Sensor Networks

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Decision Sciences (miscellaneous)
  • Control and Optimization
  • Hardware and Architecture
  • Information Systems
  • Control and Systems Engineering

Cite this

Papatheodorou, S., Smyrnakis, M., Hamidou, T., & Tzes, A. (2018). Path Planning and Task Assignment for Data Retrieval from Wireless Sensor Nodes Relying on Game-Theoretic Learning. In 2018 5th International Conference on Control, Decision and Information Technologies, CoDIT 2018 (pp. 1073-1078). (2018 5th International Conference on Control, Decision and Information Technologies, CoDIT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CoDIT.2018.8394924