Searching with an autonomous robot

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.  2005 Elsevier B.V. All rights reserved.

• Type: Conference
• Year: 2004
• Where: COMPGEOM
• Authors: Sándor P. Fekete, Rolf Klein, Andreas Nüchter
• Keywords: Autonomous Mobile Robot, COMPGEOM 2004, Three-dimensional Laser Scanner, Well-studied Problems