1 research outputs found
Randomized Strategy for Walking in Streets for a Simple Robot
We consider the problem of walking in an unknown street, for a robot that has
a minimal sensing capability. The robot is equipped with a sensor that only
detects the discontinuities in depth information (gaps) and can locate the
target point as enters in its visibility region. First, we propose an online
deterministic search strategy that generates an optimal search path for the
simple robot to reach the target t, starting from s. In contrast with
previously known research, the path is designed without memorizing any portion
of the scene has seen so far. Then, we present a randomized search strategy,
based on the deterministic strategy. We prove that the expected distance
traveled by the robot is at most a 5.33 times longer than the shortest path to
reach the target