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Autonomous Exploration Based on Multi-Criteria Decision-Making and Using D* Lite Algorithm

Novak Zagradjanin1,*, Dragan Pamucar2, Kosta Jovanovic1, Nikola Knezevic1, Bojan Pavkovic3

1 University of Belgrade, School of Electrical Engineering, Belgrade, 11120, Serbia
2 University of Defense, Military Academy, Department of Logistics, Belgrade, 11000, Serbia
3 Military Technical Institute, Belgrade, 11030, Serbia

* Corresponding Author: Novak Zagradjanin. Email: email

(This article belongs to the Special Issue: Soft Computing Methods for Intelligent Automation Systems)

Intelligent Automation & Soft Computing 2022, 32(3), 1369-1386.


An autonomous robot is often in a situation to perform tasks or missions in an initially unknown environment. A logical approach to doing this implies discovering the environment by the incremental principle defined by the applied exploration strategy. A large number of exploration strategies apply the technique of selecting the next robot position between candidate locations on the frontier between the unknown and the known parts of the environment using the function that combines different criteria. The exploration strategies based on Multi-Criteria Decision-Making (MCDM) using the standard SAW, COPRAS and TOPSIS methods are presented in the paper. Their performances are evaluated in terms of the analysis and comparison of the influence that each one of them has on the efficiency of exploration in environments with a different risk level of a “bad choice” in the selection of the next robot position. The simulation results show that, due to its characteristics related to the intention to minimize risk, the application of TOPSIS can provide a good exploration strategy in environments with a high level of considered risk. No significant difference is found in the application of the analyzed MCDM methods in the exploration of environments with a low level of considered risk. Also, the results confirm that MCDM-based exploration strategies achieve better results than strategies when only one criterion is used, regardless of the characteristics of the environment. The famous D* Lite algorithm is used for path planning.


Cite This Article

APA Style
Zagradjanin, N., Pamucar, D., Jovanovic, K., Knezevic, N., Pavkovic, B. (2022). Autonomous exploration based on multi-criteria decision-making and using D* lite algorithm. Intelligent Automation & Soft Computing, 32(3), 1369-1386.
Vancouver Style
Zagradjanin N, Pamucar D, Jovanovic K, Knezevic N, Pavkovic B. Autonomous exploration based on multi-criteria decision-making and using D* lite algorithm. Intell Automat Soft Comput . 2022;32(3):1369-1386
IEEE Style
N. Zagradjanin, D. Pamucar, K. Jovanovic, N. Knezevic, and B. Pavkovic "Autonomous Exploration Based on Multi-Criteria Decision-Making and Using D* Lite Algorithm," Intell. Automat. Soft Comput. , vol. 32, no. 3, pp. 1369-1386. 2022.


cc This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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