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Please use this identifier to cite or link to this item: http://dspace.vgtu.lt/handle/1/3922

Title: Application of Sustainability Principles for Harsh Environment Exploration by Autonomous Robot
Authors: Baušys, Romualdas
Cavallaro, Fausto
Semėnas, Rokas
Keywords: sustainability
autonomous robot
harsh environment
multi-criteria decision-making
SWARA
WASPAS-SVNS
neutrosophic sets
Issue Date: 2019
Publisher: MDPI
Citation: Bausys, R.; Cavallaro, F.; Semenas, R. Application of Sustainability Principles for Harsh Environment Exploration by Autonomous Robot. Sustainability 2019, 11, 2518.
Series/Report no.: 11;9
Abstract: Currently, the European Union (EU) is focusing on a large-scale campaign dedicated to developing a competitive circular economy and expanding the single digital market. One of the main goals of this campaign is the implementation of the sustainability principles in the development and deployment cycle of the new generation technologies. This paper focuses on the fast-growing field of autonomous mobile robots and the harsh environment exploration problem. Currently, most state-of-the-art navigation methods are utilising the idea of evaluating candidate observation locations by combining different task-related criteria. However, these map building solutions are often designed for operating in near-perfect environments, neglecting such factors as the danger to the robot. In this paper, a new strategy that aims to address the safety and re-usability of the autonomous mobile agent by implementing the economic sustainability principles is proposed. A novel multi-criteria decision-making method of Weighted Aggregated Sum Product Assessment—Single-Valued Neutrosophic Sets, namely WASPAS-SVNS, and the weight selection method of Step-Wise Weights Assessment Ratio Analysis (SWARA) are applied to model a dynamic decision-making system. The experimental evaluation of the proposed strategy shows that increased survivability of the autonomous agent can be observed. Compared to the greedy baseline strategy, the proposed method forms the movement path which orients the autonomous agent away from dangerous obstacles.
Description: This article belongs to the Special Issue Soft Computing for Sustainability
URI: http://dspace.vgtu.lt/handle/1/3922
ISSN: 2071-1050
Appears in Collections:Moksliniai straipsniai / Research articles

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