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Optimal Strategy for Walking in Streets with Minimum Number of Turns for a Simple Robot

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Book cover Combinatorial Optimization and Applications (COCOA 2014)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 8881))

Abstract

We consider the problem of walking a simple robot in an unknown street. The robot that cannot infer any geometric properties of the street traverses the environment to reach a target \(t\), starting from a point \(s\). The robot has a minimal sensing capability that can only report the discontinuities in the depth information (gaps), and location of the target point once it enters in its visibility region. Also, the robot can only move towards the gaps while moving along straight lines is cheap, but rotation is expensive for the robot. We maintain the location of some gaps in a tree data structure of constant size. The tree is dynamically updated during the movement. Using the data structure, we present an online strategy that generates a search path for the robot with optimal number of turns.

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Author information

Authors and Affiliations

  1. Department of Computer Engineering, Sharif University of Technology, Tehran, Iran

    Azadeh Tabatabaei

  2. Sharif University of Technology, Tehran, Iran

    Mohammad Ghodsi

  3. School of Computer Science, Institute for Research in Fundamental Sciences (IPM), Tehran, Iran

    Mohammad Ghodsi

Authors
  1. Azadeh Tabatabaei
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  2. Mohammad Ghodsi
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Corresponding author

Correspondence to Azadeh Tabatabaei .

Editor information

Editors and Affiliations

  1. Zhejiang Normal University, Jinhua, Zhejiang, China

    Zhao Zhang

  2. University of Texas, Tyler, Texas, USA

    Lidong Wu

  3. University of Texas, Dallas, Texas, USA

    Wen Xu

  4. University of Texas, Dallas, USA

    Ding-Zhu Du

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© 2014 Springer International Publishing Switzerland

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Tabatabaei, A., Ghodsi, M. (2014). Optimal Strategy for Walking in Streets with Minimum Number of Turns for a Simple Robot. In: Zhang, Z., Wu, L., Xu, W., Du, DZ. (eds) Combinatorial Optimization and Applications. COCOA 2014. Lecture Notes in Computer Science(), vol 8881. Springer, Cham. https://doi.org/10.1007/978-3-319-12691-3_9

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  • DOI: https://doi.org/10.1007/978-3-319-12691-3_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-12690-6

  • Online ISBN: 978-3-319-12691-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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