Online Searching with an Autonomous Robot
Sándor P. Fekete1
- Rolf Klein2
- Andreas Nüchter3
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.