2026-08-15T12:03:54Z https://drops.dagstuhl.de/oai

oai:drops-oai.dagstuhl.de:191 2024-03-06T11:06:13Z ddc:004 open_access

Searching with an Autonomous Robot Fekete, Sándor Klein, Rolf Nüchter, Andreas Searching visibility problems watchman problems online searching competitive strategies autonomous mobile robots three-dimensional laser scanning Kurt3D 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. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Sándor Fekete and Rolf Klein and Andreas Nüchter 2005 Is Part Of Dagstuhl Seminar Proceedings, Volume 5031, Algorithms for Optimization with Incomplete Information (2005) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/DagSemProc.05031.27 urn:nbn:de:0030-drops-1919 https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.05031.27 eng https://creativecommons.org/licenses/by/4.0/legalcode