%0 Journal Article %1 CGTA_2006 %A Fekete, S. P. %A Klein, R. %A Nüchter, A. %D 2006 %J Computational Geometry: Theory and Applications (CGTA) %K imported myown %N 2 %P 102--115 %R 10.1016/j.comgeo.2005.08.005 %T Online searching with an autonomous robot %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/cg2006.pdf %V 34 %X We discuss online strategies for visibility-based searching for an ob ject 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.

@article{CGTA_2006, abstract = {We discuss online strategies for visibility-based searching for an ob ject 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. }, added-at = {2017-09-19T13:40:53.000+0200}, author = {Fekete, S. P. and Klein, R. and N{\"u}chter, A.}, biburl = {https://www.bibsonomy.org/bibtex/269c6930a34b9f15bc1ab1d08a4df637f/nuechter76}, doi = {10.1016/j.comgeo.2005.08.005}, interhash = {660c829754e02d546ab0270f358acc32}, intrahash = {69c6930a34b9f15bc1ab1d08a4df637f}, journal = {Computational Geometry: Theory and Applications (CGTA)}, keywords = {imported myown}, month = May, number = 2, pages = {102--115}, timestamp = {2024-07-30T17:46:58.000+0200}, title = {Online searching with an autonomous robot}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/cg2006.pdf}, volume = 34, year = 2006 }