SCG '86 Proceedings of the second annual symposium on Computational geometry
Art gallery theorems and algorithms
Art gallery theorems and algorithms
How to learn an unknown environment. I: the rectilinear case
Journal of the ACM (JACM)
On-line search in a simple polygon
SODA '94 Proceedings of the fifth annual ACM-SIAM symposium on Discrete algorithms
Approximation algorithms for lawn mowing and milling
Computational Geometry: Theory and Applications
The Polygon Exploration Problem
SIAM Journal on Computing
Exploring an Unknown Polygonal Environment with Bounded Visibility
ICCS '01 Proceedings of the International Conference on Computational Sciences-Part I
Searching with an autonomous robot
SCG '04 Proceedings of the twentieth annual symposium on Computational geometry
Competitive exploration of rectilinear polygons
Theoretical Computer Science - Foundations of computation theory (FCT 2003)
Online searching with an autonomous robot
Computational Geometry: Theory and Applications
Online searching with turn cost
Theoretical Computer Science - Approximation and online algorithms
A nearly optimal sensor placement algorithm for boundary coverage
Pattern Recognition
Minimum Covering with Travel Cost
ISAAC '09 Proceedings of the 20th International Symposium on Algorithms and Computation
Exploration strategies for a robot with a continously rotating 3D scanner
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Exploring and triangulating a region by a swarm of robots
APPROX'11/RANDOM'11 Proceedings of the 14th international workshop and 15th international conference on Approximation, randomization, and combinatorial optimization: algorithms and techniques
Survey: Online algorithms for searching and exploration in the plane
Computer Science Review
Minimum covering with travel cost
Journal of Combinatorial Optimization
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With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of useful accuracy does not allow the robot to scan continuously while in motion; instead, it has to stop each time it surveys its environment. This requirement was studied by Fekete, Klein and Nuchter for the subproblem of looking around a corner, but until now has not been considered in an online setting for whole polygonal regions. We give the first algorithmic results for this important optimization problem that combines stationary art gallery-type aspects with watchman-type issues in an online scenario: We demonstrate that even for orthoconvex polygons, a competitive strategy can be achieved only for limited aspect ratio A (the ratio of the maximum and minimum edge length of the polygon), i.e., for a given lower bound on the size of an edge; we give a matching upper bound by providing an O(logA)-competitive strategy for simple rectilinear polygons, using the assumption that each edge of the polygon has to be fully visible from some scan point.