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Searching with an Autonomous Robot

Authors Sándor Fekete, Rolf Klein, Andreas Nüchter



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DagSemProc.05031.27.pdf
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Sándor Fekete
Rolf Klein
Andreas Nüchter

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Sándor Fekete, Rolf Klein, and Andreas Nüchter. Searching with an Autonomous Robot. In Algorithms for Optimization with Incomplete Information. Dagstuhl Seminar Proceedings, Volume 5031, pp. 1-2, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2005)
https://doi.org/10.4230/DagSemProc.05031.27

Abstract

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.
Keywords
  • Searching
  • visibility problems
  • watchman problems
  • online searching
  • competitive strategies
  • autonomous mobile robots three-dimensional laser scanning
  • Kurt3D

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