Amortized efficiency of list update and paging rules
Communications of the ACM
Art gallery theorems and algorithms
Art gallery theorems and algorithms
Information Processing Letters
Shortest watchman routes in simple polygons
Discrete & Computational Geometry
Theoretical Computer Science
How to learn an unknown environment (extended abstract)
SFCS '91 Proceedings of the 32nd annual symposium on Foundations of computer science
Lower Bounds for Randomized $k$-Serverand Motion-Planning Algorithms
SIAM Journal on Computing
Navigating in Unfamiliar Geometric Terrain
SIAM Journal on Computing
Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
A Distributed Model for Mobile Robot Environment-Learning and Navigation
A Distributed Model for Mobile Robot Environment-Learning and Navigation
Exploring unknown environments with obstacles
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
Tree exploration with little memory
SODA '02 Proceedings of the thirteenth annual ACM-SIAM symposium on Discrete algorithms
The power of a pebble: exploring and mapping directed graphs
Information and Computation
Improved exploration of rectilinear polygons
Nordic Journal of Computing
Searching Rectilinear Streets Completely
WADS '99 Proceedings of the 6th International Workshop on Algorithms and Data Structures
Robot Map Verification of a Graph World
WADS '99 Proceedings of the 6th International Workshop on Algorithms and Data Structures
Computing Shortest Paths with Uncertainty
STACS '03 Proceedings of the 20th Annual Symposium on Theoretical Aspects of Computer Science
Collaborative Exploration of Unknown Environments with Teams of Mobile Robots
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
Lifelong Planning for Mobile Robots
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
Invited Lecture: Online Algorithms: A Study of Graph-Theoretic Concepts
WG '99 Proceedings of the 25th International Workshop on Graph-Theoretic Concepts in Computer Science
Optimal Graph Exploration without Good Maps
ESA '02 Proceedings of the 10th Annual European Symposium on Algorithms
Performance bounds for planning in unknown terrain
Artificial Intelligence - special issue on planning with uncertainty and incomplete information
VC-Dimension of Exterior Visibility
IEEE Transactions on Pattern Analysis and Machine Intelligence
Tree exploration with little memory
Journal of Algorithms
Optimal graph exploration without good maps
Theoretical Computer Science
Graph exploration by a finite automaton
Theoretical Computer Science - Mathematical foundations of computer science 2004
Competitive exploration of rectilinear polygons
Theoretical Computer Science - Foundations of computation theory (FCT 2003)
Broadcast in the rendezvous model
Information and Computation
Optimal constrained graph exploration
ACM Transactions on Algorithms (TALG)
Computing shortest paths with uncertainty
Journal of Algorithms
Tree exploration with logarithmic memory
SODA '07 Proceedings of the eighteenth annual ACM-SIAM symposium on Discrete algorithms
Information and Computation
Memory Efficient Anonymous Graph Exploration
Graph-Theoretic Concepts in Computer Science
Efficient exploration of unknown indoor environments using a team of mobile robots
Annals of Mathematics and Artificial Intelligence
Polygon exploration with time-discrete vision
Computational Geometry: Theory and Applications
Inspecting a Set of Strips Optimally
WADS '09 Proceedings of the 11th International Symposium on Algorithms and Data Structures
Broadcast in the rendezvous model
Information and Computation
Optimality and competitiveness of exploring polygons by mobile robots
Information and Computation
Mobile agent algorithms versus message passing algorithms
OPODIS'06 Proceedings of the 10th international conference on Principles of Distributed Systems
Exploring an unknown graph efficiently
ESA'05 Proceedings of the 13th annual European conference on Algorithms
Exploring simple grid polygons
COCOON'05 Proceedings of the 11th annual international conference on Computing and Combinatorics
Tree exploration with an oracle
MFCS'06 Proceedings of the 31st international conference on Mathematical Foundations of Computer Science
Optimal exploration of terrains with obstacles
SWAT'10 Proceedings of the 12th Scandinavian conference on Algorithm Theory
Finding short right-hand-on-the-wall walks in graphs
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
Survey: Online algorithms for searching and exploration in the plane
Computer Science Review
Survey: A glimpse at Christos H. Papadimitriou
Computer Science Review
Observe and remain silent (communication-less agent location discovery)
MFCS'12 Proceedings of the 37th international conference on Mathematical Foundations of Computer Science
Worst-case optimal exploration of terrains with obstacles
Information and Computation
Planning for provably reliable navigation using an unreliable, nearly sensorless robot
International Journal of Robotics Research
Intensity-based navigation with global guarantees
Autonomous Robots
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We consider the problem faced by a robot that must explore and learn an unknown room with obstacles in it. We seek algorithms that achieve a bounded ratio of the worst-case distance traversed in order to see all visible points of the environment (thus creating a map), divided by the optimum distance needed to verify the map, if we had it in the beginning. The situation is complicated by the fact that the latter off-line problem (the problem of optimally verifying a map) is NP-hard. Although we show that there is no such “competitive” algorithm for general obstacle courses, we give a competitive algorithm for the case of a polygonal room with a bounded number of obstacles in it. We restrict ourselves to the rectilinear case, where each side of the obstacles and the room is parallel to one of the coordinates, and the robot must also move either parallel or perpendicular to the sides. (In a subsequent paper, we will discuss the extension to polygons of general shapes.)We also discuss the off-line problem for simple rectilinear polygons and find an optimal solution (in the L1 metric) in polynomial time, in the case where the entry and the exit are different points.