Online Searching with an Autonomous Robot
<|reference_start|>Online 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.<|reference_end|>
@article{fekete2004online,
    title={Online Searching with an Autonomous Robot},
    author={Sandor P. Fekete and Rolf Klein and Andreas Nuechter},
    journal={arXiv preprint arXiv:cs/0404036},
    year={2004},
    archivePrefix={arXiv},
    eprint={cs/0404036},
    primaryClass={cs.RO cs.DS}
}