Computational complexity of art gallery problems
IEEE Transactions on Information Theory
Art gallery theorems and algorithms
Art gallery theorems and algorithms
Learning to explore and build maps
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
The Polygon Exploration Problem
SIAM Journal on Computing
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Polygon exploration with time-discrete vision
Computational Geometry: Theory and Applications
Online searching with an autonomous robot
Computational Geometry: Theory and Applications
Algorithm for computer control of a digital plotter
IBM Systems Journal
New exploration strategy for cooperative mobile robots
EHAC'12/ISPRA/NANOTECHNOLOGY'12 Proceedings of the 11th WSEAS international conference on Electronics, Hardware, Wireless and Optical Communications, and proceedings of the 11th WSEAS international conference on Signal Processing, Robotics and Automation, and proceedings of the 4th WSEAS international conference on Nanotechnology
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To benchmark the efficiency of exploration strategies one has to use robot simulators. In an exploration task, the robot faces an unknown environment. Of course one could test the algorithm in different real-world scenarios, but a competitive strategy must have good performance in any environment that can be systematically constructed inside a simulator. This paper presents an evaluation of exploration strategies we developed for a specific sensor. A continously rotating 3D laser scanner that scans only into one direction at a time moves through the environment sampling the surrounding. Our evaluation framework features an efficient scanning and robot simulator for kinematic feasible trajectories. We will show that shorter trajectories do not necessarily imply quicker exploration. A simple simulator framework is sufficient for evaluating these properties of path planning algorithms.