Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot
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 pr...
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| Veröffentlicht in: | IEEE transactions on robotics 2011-02, Vol.27 (1), p.113-128 |
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| container_end_page | 128 |
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| container_title | IEEE transactions on robotics |
| container_volume | 27 |
| creator | Katsev, Max Yershova, Anna Tovar, Benjamín Ghrist, Robert LaValle, Steven M |
| description | 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 to solve several tasks: 1) counting vertices, 2) computing the path winding number, 3) learning a combinatorial map, which is called the cut ordering, that encodes partial geometric information, and 4) solving pursuit-evasion problems. |
| doi_str_mv | 10.1109/TRO.2010.2095570 |
| format | Article |
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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 to solve several tasks: 1) counting vertices, 2) computing the path winding number, 3) learning a combinatorial map, which is called the cut ordering, that encodes partial geometric information, and 4) solving pursuit-evasion problems.</description><identifier>ISSN: 1552-3098</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2010.2095570</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Applied sciences ; Clocks ; Combinatorial analysis ; Computer science; control theory; systems ; Control theory. 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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 to solve several tasks: 1) counting vertices, 2) computing the path winding number, 3) learning a combinatorial map, which is called the cut ordering, that encodes partial geometric information, and 4) solving pursuit-evasion problems.</description><subject>Applied sciences</subject><subject>Clocks</subject><subject>Combinatorial analysis</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. 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| ispartof | IEEE transactions on robotics, 2011-02, Vol.27 (1), p.113-128 |
| issn | 1552-3098 1941-0468 |
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| source | IEEE Electronic Library (IEL) |
| subjects | Applied sciences Clocks Combinatorial analysis Computer science control theory systems Control theory. Systems Counting Exact sciences and technology Exploration information spaces Kinematics Learning Mapping minimal sensing Mobile robots Precision pursuit evasion Robotics Robots Sensors simultaneous localization and mapping (SLAM) Strategy Tactile sensors Tasks Windings |
| title | Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot |
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