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- W2906186428 abstract "In this study, we aim to optimize and improve the efficiency of a Tetris-inspired reconfigurable cleaning robot. Multi-criteria decision making (MCDM) is utilized as a powerful tool to target this aim by introducing the best solution among others in terms of lower energy consumption and greater area coverage. Regarding the Tetris-inspired structure, polyomino tiling theory is utilized to generate tiling path-planning maps which are evaluated via MCDM to seek a solution that can deliver the best balance between the two mentioned key issues; energy and area coverage. In order to obtain a tiling area that better meets the requirements of polyomino tiling theorems, first, the whole area is decomposed into five smaller sub-areas based on furniture layout. Afterward, four tetromino tiling theorems are applied to each sub-area to give the tiling sets that govern the robot navigation strategy in terms of shape-shifting tiles. Then, the area coverage and energy consumption are calculated and eventually, these key values are considered as the decision criteria in a MCDM process to select the best tiling set in each sub-area, and following the aggregation of best tiling path-plannings, the robot navigation is oriented towards efficiency and improved optimality. Also, for each sub-area, a preference order for the tiling sets is put forward. Based on simulation results, the tiling theorem that can best serve all sub-areas turns out to be the same. Moreover, a comparison between a fixed-morphology mechanism with the current approach further advocates the proposed technique." @default.
- W2906186428 created "2019-01-01" @default.
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- W2906186428 date "2018-12-25" @default.
- W2906186428 modified "2023-09-26" @default.
- W2906186428 title "Multi-Criteria Decision Making for Efficient Tiling Path Planning in a Tetris-Inspired Self-Reconfigurable Cleaning Robot" @default.
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- W2906186428 doi "https://doi.org/10.3390/app9010063" @default.
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