Online searching with an autonomous robot

Authors:
Sándor P. Fekete;Rolf Klein;Andreas Nüchter
Affiliations:
Institute for Mathematical Optimization, Braunschweig University of Technology, D-38106 Braunschweig, Germany;Institute of Computer Science, University of Bonn, D-53117 Bonn, Germany;Institute of Computer Science, University of Osnabrück, D-49069 Osnabrück, Germany
Venue:
Computational Geometry: Theory and Applications
Year:
2006

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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.