000078851 001__ 78851 000078851 005__ 20230914083224.0 000078851 0247_ $$2doi$$a10.3390/app9040791 000078851 0248_ $$2sideral$$a111229 000078851 037__ $$aART-2019-111229 000078851 041__ $$aeng 000078851 100__ $$aBurlacu, A. 000078851 245__ $$aNumerical evaluation of sample gathering solutions for mobile robots 000078851 260__ $$c2019 000078851 5060_ $$aAccess copy available to the general public$$fUnrestricted 000078851 5203_ $$aThis paper applies mathematical modeling and solution numerical evaluation to the problem of collecting a set of samples scattered throughout a graph environment and transporting them to a storage facility. A team of identical robots is available, where each robot has a limited amount of energy and it can carry one sample at a time. The graph weights are related to energy and time consumed for moving between adjacent nodes, and thus, the task is transformed to a specific optimal assignment problem. The design of the mathematical model starts from a mixed-integer linear programming problem whose solution yields an optimal movement plan that minimizes the total time for gathering all samples. For reducing the computational complexity of the optimal solution, we develop two sub-optimal relaxations and then we quantitatively compare all the approaches based on extensive numerical simulations. The numerical evaluation yields a decision diagram that can help a user to choose the appropriate method for a given problem instance. 000078851 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/ 000078851 590__ $$a2.474$$b2019 000078851 592__ $$a0.418$$b2019 000078851 591__ $$aPHYSICS, APPLIED$$b62 / 154 = 0.403$$c2019$$dQ2$$eT2 000078851 593__ $$aEngineering (miscellaneous)$$c2019$$dQ1 000078851 591__ $$aENGINEERING, MULTIDISCIPLINARY$$b32 / 91 = 0.352$$c2019$$dQ2$$eT2 000078851 593__ $$aFluid Flow and Transfer Processes$$c2019$$dQ2 000078851 591__ $$aCHEMISTRY, MULTIDISCIPLINARY$$b88 / 176 = 0.5$$c2019$$dQ2$$eT2 000078851 593__ $$aProcess Chemistry and Technology$$c2019$$dQ2 000078851 591__ $$aMATERIALS SCIENCE, MULTIDISCIPLINARY$$b161 / 314 = 0.513$$c2019$$dQ3$$eT2 000078851 593__ $$aInstrumentation$$c2019$$dQ2 000078851 593__ $$aMaterials Science (miscellaneous)$$c2019$$dQ2 000078851 593__ $$aComputer Science Applications$$c2019$$dQ3 000078851 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000078851 700__ $$aKloetzer, M. 000078851 700__ $$0(orcid)0000-0003-0056-2225$$aMahulea, C.$$uUniversidad de Zaragoza 000078851 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000078851 773__ $$g9, 4 (2019), 791 [18 pp]$$pAppl. sci.$$tApplied Sciences (Switzerland)$$x2076-3417 000078851 8564_ $$s576593$$uhttps://zaguan.unizar.es/record/78851/files/texto_completo.pdf$$yVersión publicada 000078851 8564_ $$s101321$$uhttps://zaguan.unizar.es/record/78851/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000078851 909CO $$ooai:zaguan.unizar.es:78851$$particulos$$pdriver 000078851 951__ $$a2023-09-13-10:42:20 000078851 980__ $$aARTICLE