NDLI: How to learn an unknown environment. I: the rectilinear case

Content Provider	ACM Digital Library
Author	Deng, Xiaotie Kameda, Tiko Papadimitriou, Christos
Copyright Year	1998
Abstract	We consider the problem faced by a robot that must explore and learn an unknown room with obstacles in it. We seek algorithms that achieve a bounded ratio of the worst-case distance traversed in order to see all visible points of the environment (thus creating a map), divided by the optimum distance needed to verify the map, if we had it in the beginning. The situation is complicated by the fact that the latter off-line problem (the problem of optimally verifying a map) is NP-hard. Although we show that there is no such “competitive” algorithm for general obstacle courses, we give a competitive algorithm for the case of a polygonal room with a bounded number of obstacles in it. We restrict ourselves to the rectilinear case, where each side of the obstacles and the room is parallel to one of the coordinates, and the robot must also move either parallel or perpendicular to the sides. (In a subsequent paper, we will discuss the extension to polygons of general shapes.)We also discuss the off-line problem for simple rectilinear polygons and find an optimal solution (in the L1 metric) in polynomial time, in the case where the entry and the exit are different points.
Starting Page	215
Ending Page	245
Page Count	31
File Format	PDF
ISSN	00045411
e-ISSN	1557735X
DOI	10.1145/274787.274788
Journal	Journal of the ACM (JACM)
Volume Number	45
Issue Number	2
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	1998-03-01
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	L1 metric Competitive algorithms Computational geometry Gallery tour On-line algorithms Polygon with obstacles Shortest path
Content Type	Text
Resource Type	Article
Subject	Hardware and Architecture Information Systems Control and Systems Engineering Artificial Intelligence Software

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