CautiousBug: A competitive algorithm for sensory-based robot navigation

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 3, Issue , 2004, Pages 2757-2762

  Magid, Evgeni ^a   Rivlin, Ehud ^a  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SCIENCE; COMPUTER SIMULATION; DATA STORAGE EQUIPMENT; GRAPH THEORY; MATHEMATICAL MODELS; MOTION PLANNING; NAVIGATION; SENSORS;

CAUTIOUSBUG; COMPETITIVE ANALYSIS; CONNECTIVITY GRAPH; SENSOR-BASED ROBOT NAVIGATION;

INTELLIGENT ROBOTS;

EID: 14044254849     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. R. Baeza-Yates, J. Culberson, G. Rawlins. Searching in the Plane. Information and Computation, 106(2):234-252, 1993
2. A. Blum, P. Raghavan, B. Schieber. Navigating in Unfamiliar Geometric Terrain. SIAM Journal on Computing, 26(1):110-137, 1997.
3. A. Datta, S. Soundaralakshmi. Motion Planning in an Unknown Polygonal Environment with Bounded Performance Guarantee. In Proc. IEEE ICRA'99, pp. 1032-1037.
4. Y. Horiuchi and H. Noborio. Evaluation of Path Length Made in Sensor-based Path-planning with the Alternative Following. In Proc. IEEE ICRA'01, pp. 909-916.
5. C. Icking, R. Klein. Competitive Strategies for Autonomous Systems. Modelling and Planning for Sensor Based Intelligent Robot Systems, pp. 23-40, 1995.
6. C. Icking, T. Kamphans, R. Klein, E. Langetepe. On the Competitive Complexity of Navigation Tasks. Sensor Based Intelligent Robots, pp. 245-258, 2002.
7. I. Kamon. Locally Optimal Sensor Based Robot Navigation. Ph.D. Thesis. Technion, 1997.
8. I. Kamon, E. Rivlin, E. Rimon. A New Range-sensor Based Globally Convergent Navigation Algorithm for Mobile Robots. In Proc. IEEE ICRA'96.
9. I. Kamon, E. Rivlin. Sensory Based Motion Planning with Global Proofs. IROS'95, pp. 435-440.
10. J. C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, USA, 1991.
11. V. J. Lumelsky, T. Skewis. Incorporating Range Sensing in the Robot Navigation Function. In IEEE Trans. Sys. Man. Cybernet., 20(5):1058-1068, 1990.
12. V. J. Lumelsky, A. A. Stepanov. Path Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape. Algorithmica, 2:403-430, 1987.
13. V. J. Lumelsky, S. Tiwari. An Algorithm for Maze Searching with Azimuth Input. In Proc. IEEE ICRA'94, pp. 111-116.
14. H. Noborio. A Path-planning Algorithm for Generation of an Intuitively Reasonable Path in an Uncertain 2D Workspace. Proc. of the Japan-USA Symposium on Flexible Automation, 2:477-480, 1990.
15. H. Noborio. A Sufficient Condition for Designing a Family of Sensor Based Deadlock Free Path Planning Algorithms. Advanced Robotics, 7(5):413-433, 1993.
16. H. Noborio, T. Yoshioka, S. Tominaga. On the Sensor-based Navigation by Changing a Direction to Follow an Encountered Obstacle. In IROS'97, pp. 510-517.
17. R. Nogami, S. Hirao, H. Noborio. On the Average Path Lengths of Typical Sensor-based Path-planning Algorithms by Uncertain Random Mazes. CIRA'03, pp.471-478.
18. C. H. Papadimitriou, M. Yannakakis. Shortest Path Without a Map. Theoretical Computer Science, 84(1):127-150, 1991.
19. A. Sankaranarayanan, M. Vidyasagar. Path Planning Algorithm for a Moving Point Object Amidst Unknown Obstacles in a Plane: the Universal Lower Bound on Worst Case Path Lengthes and a Classification of Algorithms. In Proc. IEEE ICRA'91, pp. 1734-1741.