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.Comment: 16 pages, 8 figures, 12 photographs, 1 table, Latex, submitted for publicatio

An application of virtual reality for training and ranking operators of mobile robot

In the paper it is shown how candidates for mobile robot operators might be trained and ranked with the help of the specific game running on a computer in virtual reality. It is also shown how playing the game improves their skills and discloses their personal features

Detecting changes in environment of mobile robot

The usefulness of four signature schemes for detecting changes in environment of mobile robot is investigated. Computational and memory complexities of software implementations of the schemes are experimentally compared. Finally, the best of the schemes for considered application is chosen

Experimental data driven robot for pattern classification

In this paper the problem whether or not a human being can plan a tour for a mobile robot with a camera so that all changes in the room are detected within a time limit is investigated. A tour simulator and a game based on it are developed. The plan of the winner of the game is used for a driving real robot. It is shown that this plan is two times shorter (as Java bytecode for Lego RCX) than the average one

Minimum-Cost Coverage of Point Sets by Disks

We consider a class of geometric facility location problems in which the goal is to determine a set X of disks given by their centers (t_j) and radii (r_j) that cover a given set of demand points Y in the plane at the smallest possible cost. We consider cost functions of the form sum_j f(r_j), where f(r)=r^alpha is the cost of transmission to radius r. Special cases arise for alpha=1 (sum of radii) and alpha=2 (total area); power consumption models in wireless network design often use an exponent alpha>2. Different scenarios arise according to possible restrictions on the transmission centers t_j, which may be constrained to belong to a given discrete set or to lie on a line, etc. We obtain several new results, including (a) exact and approximation algorithms for selecting transmission points t_j on a given line in order to cover demand points Y in the plane; (b) approximation algorithms (and an algebraic intractability result) for selecting an optimal line on which to place transmission points to cover Y; (c) a proof of NP-hardness for a discrete set of transmission points in the plane and any fixed alpha>1; and (d) a polynomial-time approximation scheme for the problem of computing a minimum cost covering tour (MCCT), in which the total cost is a linear combination of the transmission cost for the set of disks and the length of a tour/path that connects the centers of the disks.Comment: 10 pages, 4 figures, Latex, to appear in ACM Symposium on Computational Geometry 200

Polygon Exploration with Time-Discrete Vision

With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of useful accuracy does not allow the robot to scan continuously while in motion; instead, it has to stop each time it surveys its environment. This requirement was studied by Fekete, Klein and Nuechter for the subproblem of looking around a corner, but until now has not been considered in an online setting for whole polygonal regions. We give the first algorithmic results for this important algorithmic problem that combines stationary art gallery-type aspects with watchman-type issues in an online scenario: We demonstrate that even for orthoconvex polygons, a competitive strategy can be achieved only for limited aspect ratio A (the ratio of the maximum and minimum edge length of the polygon), i.e., for a given lower bound on the size of an edge; we give a matching upper bound by providing an O(log A)-competitive strategy for simple rectilinear polygons, using the assumption that each edge of the polygon has to be fully visible from some scan point.Comment: 28 pages, 17 figures, 2 photographs, 3 tables, Latex. Updated some details (title, figures and text) for final journal revision, including explicit assumption of full edge visibilit

Alternative Measures for the Analysis of Online Algorithms

In this thesis we introduce and evaluate several new models for the analysis of online algorithms. In an online problem, the algorithm does not know the entire input from the beginning; the input is revealed in a sequence of steps. At each step the algorithm should make its decisions based on the past and without any knowledge about the future. Many important real-life problems such as paging and routing are intrinsically online and thus the design and analysis of online algorithms is one of the main research areas in theoretical computer science. Competitive analysis is the standard measure for analysis of online algorithms. It has been applied to many online problems in diverse areas ranging from robot navigation, to network routing, to scheduling, to online graph coloring. While in several instances competitive analysis gives satisfactory results, for certain problems it results in unrealistically pessimistic ratios and/or fails to distinguish between algorithms that have vastly differing performance under any practical characterization. Addressing these shortcomings has been the subject of intense research by many of the best minds in the field. In this thesis, building upon recent advances of others we introduce some new models for analysis of online algorithms, namely Bijective Analysis, Average Analysis, Parameterized Analysis, and Relative Interval Analysis. We show that they lead to good results when applied to paging and list update algorithms. Paging and list update are two well known online problems. Paging is one of the main examples of poor behavior of competitive analysis. We show that LRU is the unique optimal online paging algorithm according to Average Analysis on sequences with locality of reference. Recall that in practice input sequences for paging have high locality of reference. It has been empirically long established that LRU is the best paging algorithm. Yet, Average Analysis is the first model that gives strict separation of LRU from all other online paging algorithms, thus solving a long standing open problem. We prove a similar result for the optimality of MTF for list update on sequences with locality of reference. A technique for the analysis of online algorithms has to be effective to be useful in day-to-day analysis of algorithms. While Bijective and Average Analysis succeed at providing fine separation, their application can be, at times, cumbersome. Thus we apply a parameterized or adaptive analysis framework to online algorithms. We show that this framework is effective, can be applied more easily to a larger family of problems and leads to finer analysis than the competitive ratio. The conceptual innovation of parameterizing the performance of an algorithm by something other than the input size was first introduced over three decades ago [124, 125]. By now it has been extensively studied and understood in the context of adaptive analysis (for problems in P) and parameterized algorithms (for NP-hard problems), yet to our knowledge this thesis is the first systematic application of this technique to the study of online algorithms. Interestingly, competitive analysis can be recast as a particular form of parameterized analysis in which the performance of opt is the parameter. In general, for each problem we can choose the parameter/measure that best reflects the difficulty of the input. We show that in many instances the performance of opt on a sequence is a coarse approximation of the difficulty or complexity of a given input sequence. Using a finer, more natural measure we can separate paging and list update algorithms which were otherwise indistinguishable under the classical model. This creates a performance hierarchy of algorithms which better reflects the intuitive relative strengths between them. Lastly, we show that, surprisingly, certain randomized algorithms which are superior to MTF in the classical model are not so in the parameterized case, which matches experimental results. We test list update algorithms in the context of a data compression problem known to have locality of reference. Our experiments show MTF outperforms other list update algorithms in practice after BWT. This is consistent with the intuition that BWT increases locality of reference

Online searching with an autonomous robot

Abstract. 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 threedimensional 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