Art gallery theorems and algorithms
Art gallery theorems and algorithms
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Constructing competitive tours from local information
Theoretical Computer Science - Special issue on dynamic and on-line algorithms
Exploring unknown environments with obstacles
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
The Polygon Exploration Problem
SIAM Journal on Computing
Searching with an autonomous robot
SCG '04 Proceedings of the twentieth annual symposium on Computational geometry
Online searching with turn cost
Theoretical Computer Science - Approximation and online algorithms
Polygon exploration with time-discrete vision
Computational Geometry: Theory and Applications
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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.