MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDS
Collaborative swarms of robots/UAVs constitute a promising solution for precision agriculture and for automatizing agricultural processes. Since agricultural fields have complex topologies and different constraints, the problem of optimized path routing of these swarms is important to be tackled. He...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2020-08-01
|
| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2020/361/2020/isprs-annals-V-1-2020-361-2020.pdf |
| _version_ | 1818259751837892608 |
|---|---|
| author | N. Botteghi A. Kamilaris A. Kamilaris L. Sinai B. Sirmacek |
| author_facet | N. Botteghi A. Kamilaris A. Kamilaris L. Sinai B. Sirmacek |
| author_sort | N. Botteghi |
| collection | DOAJ |
| description | Collaborative swarms of robots/UAVs constitute a promising solution for precision agriculture and for automatizing agricultural processes. Since agricultural fields have complex topologies and different constraints, the problem of optimized path routing of these swarms is important to be tackled. Hence, this paper deals with the problem of optimizing path routing for a swarm of ground robots and UAVs in different popular topologies of agricultural fields. Four algorithms (Nearest Neighbour based on K-means clustering, Christofides, Ant Colony Optimisation and Bellman-Held-Karp) are applied on various farm types commonly found around Europe. The results indicate that the problem of path planning and the corresponding algorithm to use, are sensitive to the field topology and to the number of agents in the swarm. |
| first_indexed | 2024-12-12T18:20:25Z |
| format | Article |
| id | doaj.art-2ec78ba587ad4703823c9c1955e07f6b |
| institution | Directory Open Access Journal |
| issn | 2194-9042 2194-9050 |
| language | English |
| last_indexed | 2024-12-12T18:20:25Z |
| publishDate | 2020-08-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-2ec78ba587ad4703823c9c1955e07f6b2022-12-22T00:16:09ZengCopernicus PublicationsISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences2194-90422194-90502020-08-01V-1-202036136810.5194/isprs-annals-V-1-2020-361-2020MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDSN. Botteghi0A. Kamilaris1A. Kamilaris2L. Sinai3B. Sirmacek4Robotics and Mechatronics, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The NetherlandsResearch Centre on Interactive Media, Smart Systems and Emerging Technologies (RISE), Nicosia, CyprusFaculty of Electric Engineering, Mathematics and Computer Science, University of Twente, The NetherlandsRobotics and Mechatronics, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The NetherlandsComputer Science and Informatics, School of Engineering, Jönköping University, SwedenCollaborative swarms of robots/UAVs constitute a promising solution for precision agriculture and for automatizing agricultural processes. Since agricultural fields have complex topologies and different constraints, the problem of optimized path routing of these swarms is important to be tackled. Hence, this paper deals with the problem of optimizing path routing for a swarm of ground robots and UAVs in different popular topologies of agricultural fields. Four algorithms (Nearest Neighbour based on K-means clustering, Christofides, Ant Colony Optimisation and Bellman-Held-Karp) are applied on various farm types commonly found around Europe. The results indicate that the problem of path planning and the corresponding algorithm to use, are sensitive to the field topology and to the number of agents in the swarm.https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2020/361/2020/isprs-annals-V-1-2020-361-2020.pdf |
| spellingShingle | N. Botteghi A. Kamilaris A. Kamilaris L. Sinai B. Sirmacek MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDS ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDS |
| title_full | MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDS |
| title_fullStr | MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDS |
| title_full_unstemmed | MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDS |
| title_short | MULTI-AGENT PATH PLANNING OF ROBOTIC SWARMS IN AGRICULTURAL FIELDS |
| title_sort | multi agent path planning of robotic swarms in agricultural fields |
| url | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2020/361/2020/isprs-annals-V-1-2020-361-2020.pdf |
| work_keys_str_mv | AT nbotteghi multiagentpathplanningofroboticswarmsinagriculturalfields AT akamilaris multiagentpathplanningofroboticswarmsinagriculturalfields AT akamilaris multiagentpathplanningofroboticswarmsinagriculturalfields AT lsinai multiagentpathplanningofroboticswarmsinagriculturalfields AT bsirmacek multiagentpathplanningofroboticswarmsinagriculturalfields |