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ALGORITHMICA
2002

Exploring Unknown Environments with Obstacles

8 years 10 months ago
Exploring Unknown Environments with Obstacles
We study exploration problems where a robot has to construct a complete map of an unknown environment using a path that is as short as possible. In the rst problem setting we consider, a robot has to explore n rectangles. We show that no deterministic or randomized online algorithm can be better than ( pn)-competitive, solving an open problem by Deng, Kameda and Papadimitriou 5]. We also generalize this bound to the problem of exploring three-dimensional rectilinear polyhedra without obstacles. In the second problem setting we study, a robot has to explore a grid graph with obstacles in a piecemeal fashion. The piecemeal constraint was de ned by Betke, Rivest and Singh 3] and implies that the robot has to return a start node every so often. Betke et al. gave an e cient algorithm for exploring grids with rectangular obstacles. We present an e cient strategy for piecemeal exploration of grids with arbitrary obstacles.
Susanne Albers, Klaus Kursawe, Sven Schuierer
Added 16 Dec 2010
Updated 16 Dec 2010
Type Journal
Year 2002
Where ALGORITHMICA
Authors Susanne Albers, Klaus Kursawe, Sven Schuierer
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