Online searching with an autonomous robot
Autor(en): | Fekete, SP Klein, R Nuchter, A |
Stichwörter: | autonomous mobile robots; competitive strategies; EXPLORATION; Kurt3D; Mathematics; Mathematics, Applied; online searching; searching; three-dimensional laser scanning; visibility problems; watchman problems | Erscheinungsdatum: | 2006 | Herausgeber: | ELSEVIER | Journal: | COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS | Volumen: | 34 | Ausgabe: | 2 | Startseite: | 102 | Seitenende: | 115 | Zusammenfassung: | We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is capable of identifying objects like a chair. We derive a practically useful and asymptotically optimal strategy that guarantees a competitive ratio of 2, which differs remarkably from the well-studied scenario without the need of stopping for surveying the environment. Our strategy is used by Kurt3D, documented in a separate video. (c) 2005 Elsevier B.V. All rights reserved. |
ISSN: | 09257721 | DOI: | 10.1016/j.comgeo.2005.08.005 |
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