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Title:Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot
Author(s):Yershova, Anna; Tovar, Benjamin; Ghrist, Robert; LaValle, Steven M.
Subject(s):Robotics
Sensing
Mapping
Pursuit-Evasion
Abstract:This paper defines and analyzes a simple robot with local sensors that moves in an unknown polygonal environment. The robot can execute wall-following motions and can traverse the interior of the environment only when following parallel to an edge. The robot has no global sensors that would allow precise mapping or localization. Special information spaces are introduced for this particular model. Using these, strategies are presented for solving several tasks: 1) counting vertices, 2) computing the path winding number, 3) learning a combinatorial map, called the cut ordering, that encodes partial geometric information, and 4) solving pursuit-evasion problems.
Issue Date:2009-04-16
Genre:Technical Report
Type:Text
Language:English
URI:http://hdl.handle.net/2142/11738
Publication Status:published or submitted for publication
Peer Reviewed:not peer reviewed
Sponsor:DARPA/HR0011-05-1-0008
NSF/0535007
ONR/N000014-02-1-0488
Date Available in IDEALS:2009-05-11


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