Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot

Yershova, Anna; Tovar, Benjamin; Ghrist, Robert; LaValle, Steven M.

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https://hdl.handle.net/2142/11738 Copy

Description

Title

Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot

Author(s)

• Yershova, Anna
• Tovar, Benjamin
• Ghrist, Robert
• LaValle, Steven M.

Issue Date

2009-04-16

Keyword(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.

Type of Resource

text

Language

en

Permalink

http://hdl.handle.net/2142/11738

Sponsor(s)/Grant Number(s)

• DARPA/HR0011-05-1-0008
• NSF/0535007
• ONR/N000014-02-1-0488

Owning Collections