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URN: urn:nbn:de:0030-drops-1919
URL: http://vesta.informatik.rwth-aachen.de/opus/volltexte/2005/191/
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Fekete, Sándor ; Klein, Rolf ; Nüchter, Andreas

Searching with an Autonomous Robot

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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.

BibTeX - Entry

@InProceedings{fekete_et_al:DSP:2005:191,
  author =	{S{\'a}ndor Fekete and Rolf Klein and Andreas N{\"u}chter},
  title =	{Searching with an Autonomous Robot},
  booktitle =	{Algorithms for Optimization with Incomplete Information},
  year =	{2005},
  editor =	{Susanne Albers and Rolf H. M{\"o}hring and Georg Ch. Pflug and R{\"u}diger Schultz},
  number =	{05031},
  series =	{Dagstuhl Seminar Proceedings},
  ISSN =	{1862-4405},
  publisher =	{Internationales Begegnungs- und Forschungszentrum f{\"u}r Informatik (IBFI), Schloss Dagstuhl, Germany},
  address =	{Dagstuhl, Germany},
  URL =		{http://drops.dagstuhl.de/opus/volltexte/2005/191},
  annote =	{Keywords: Searching ,  visibility problems ,  watchman problems , online searching , competitive strategies , autonomous mobile robots}
}

Keywords: Searching , visibility problems , watchman problems , online searching , competitive strategies , autonomous mobile robots
Freie Schlagwörter (englisch): three-dimensional laser scanning , Kurt3D
Seminar: 05031 - Algorithms for Optimization with Incomplete Information
Issue Date: 2005
Date of publication: 16.06.2005

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