MRTAsim

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The Multi-Robot Simulator

The Multi-Robot Simulator aims to provide a tool that permits to simulate a varieties of multi-robot applications and protocols, namely the Travelling Salesman Problem, The multiple Travelling salesmen problem (MTSP), The Multiple Depot Multiple Travelling Salesmen Problem (MDMTSP), The assignment Problem, etc.


Start.png Solver.png

The Multiple Depot Multiple Travelling Salesmen Problem We have implemented the Move-and-Improve approach to solve the MDMTSP. Move and Improve is a market based distributed approach that permits to solve MDMTSP in a distributed manner. In the first phase of the algoritm, robots allocate in greedy manner targets.

Tour2.png

The robots try to eliminate common targets.

Elimination.png

After that, robots improve the solution by exchanging tour with maximum cost.

Improv2.png