Abstract
This paper concerns target unreachability detection during on-line mobile robot navigation in an unknown planar environment. Traditionally, competitiveness characterizes an on-line navigation algorithm in cases where the target is reachable from the robot’s start position. This paper introduces a complementary notion of competitiveness which characterizes an on-line navigation algorithm in cases where the target is unreachable. The disconnection competitiveness of an on-line navigation algorithm measures the path length it generates in order to conclude target unreachability relative to the shortest off-line path that proves target unreachability from the same start position. It is shown that only competitive navigation algorithms can possess disconnection competitiveness. A competitive on-line navigation algorithm for a disc-shaped mobile robot, called CBUG, is described. This algorithm has a quadratic competitive performance, which is also the best achievable performance over all on-line navigation algorithms. The disconnection competitiveness of CBUG is analyzed and shown to be quadratic in the length of the shortest off-line disconnection path. Moreover, it is shown that quadratic disconnection competitiveness is the best achievable performance over all on-line navigation algorithms. Thus CBUG achieves optimal competitiveness both in terms of connection and disconnection paths. Examples illustrate the usefulness of connection-and-disconnection competitiveness in terms of path stability.
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Gabriely, Y., Rimon, E. (2008). Competitive Disconnection Detection in On-Line Mobile Robot Navigation. In: Akella, S., Amato, N.M., Huang, W.H., Mishra, B. (eds) Algorithmic Foundation of Robotics VII. Springer Tracts in Advanced Robotics, vol 47. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-68405-3_16
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DOI: https://doi.org/10.1007/978-3-540-68405-3_16
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