Multi-Criteria Decision Making for Efficient Tiling Path Planning in a Tetris-Inspired Self-Reconfigurable Cleaning Robot

Manimuthu Arunmozhi, Maryam Kouzehgar, Mohan Rajesh Elara, Mahima Ann Philip, Veerajagadheswar Prabakaran

Research output: Contribution to journalArticlepeer-review


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.
Original languageEnglish
Number of pages22
JournalApplied Sciences
Issue number63
Publication statusPublished - 25 Dec 2018

Bibliographical note

Copyright © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access
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  • self-reconfigurable robot; cleaning robot; Tetris-inspired; polyomino tiling theory; coverage path planning; area decomposition; multi-criteria decision making


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