License: Creative Commons Attribution 4.0 International license (CC BY 4.0)
When quoting this document, please refer to the following
DOI: 10.4230/DagSemProc.05031.27
URN: urn:nbn:de:0030-drops-1919
URL: http://dagstuhl.sunsite.rwth-aachen.de/volltexte/2005/191/
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Fekete, Sándor ; Klein, Rolf ; Nüchter, Andreas

Searching with an Autonomous Robot

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05031.FeketeSandor.ExtAbstract.191.pdf (0.5 MB)

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:DagSemProc.05031.27,
  author =	{Fekete, S\'{a}ndor and Klein, Rolf and N\"{u}chter, Andreas},
  title =	{{Searching with an Autonomous Robot}},
  booktitle =	{Algorithms for Optimization with Incomplete Information},
  pages =	{1--2},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2005},
  volume =	{5031},
  editor =	{Susanne Albers and Rolf H. M\"{o}hring and Georg Ch. Pflug and R\"{u}diger Schultz},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/opus/volltexte/2005/191},
  URN =		{urn:nbn:de:0030-drops-1919},
  doi =		{10.4230/DagSemProc.05031.27},
  annote =	{Keywords: Searching , visibility problems , watchman problems , online searching , competitive strategies , autonomous mobile robots three-dimensional laser scanning , Kurt3D}
}

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

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