{"title":"On-line exploration of rectangular cellular environments with a rectangular hole","authors":"Qi Wei , Xiaolin Yao , Wenxin Zhang , Ruiyue Zhang , Yonggong Ren","doi":"10.1016/j.ipl.2023.106470","DOIUrl":null,"url":null,"abstract":"<div><p>This paper considers the problem of exploring an unknown rectangular cellular environment with a rectangular hole using a mobile robot. The robot's task is to visit each cell at least once and return to the start. The robot has limited visibility that can only detect four cells adjacent to it. And it has large amount of memory that can store a map of discovered cells. The goal of this work is to find the shortest exploration tour, that is, minimizing the total number of multiple visited cells. We consider the environment in four possible scenarios: rectangular, <em>L</em>-shaped, <em>C</em>-shaped or <em>O</em>-shaped grid polygon. An on-line strategy has been proposed for these scenarios. We prove that it is optimal for rectangular, <em>L</em>-shaped, <em>C</em>-shaped grid polygon, and is 4/3-competitive for <em>O</em>-shaped grid polygon.</p></div>","PeriodicalId":56290,"journal":{"name":"Information Processing Letters","volume":"185 ","pages":"Article 106470"},"PeriodicalIF":0.7000,"publicationDate":"2024-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Information Processing Letters","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0020019023001138","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper considers the problem of exploring an unknown rectangular cellular environment with a rectangular hole using a mobile robot. The robot's task is to visit each cell at least once and return to the start. The robot has limited visibility that can only detect four cells adjacent to it. And it has large amount of memory that can store a map of discovered cells. The goal of this work is to find the shortest exploration tour, that is, minimizing the total number of multiple visited cells. We consider the environment in four possible scenarios: rectangular, L-shaped, C-shaped or O-shaped grid polygon. An on-line strategy has been proposed for these scenarios. We prove that it is optimal for rectangular, L-shaped, C-shaped grid polygon, and is 4/3-competitive for O-shaped grid polygon.
期刊介绍：
Information Processing Letters invites submission of original research articles that focus on fundamental aspects of information processing and computing. This naturally includes work in the broadly understood field of theoretical computer science; although papers in all areas of scientific inquiry will be given consideration, provided that they describe research contributions credibly motivated by applications to computing and involve rigorous methodology. High quality experimental papers that address topics of sufficiently broad interest may also be considered.
Since its inception in 1971, Information Processing Letters has served as a forum for timely dissemination of short, concise and focused research contributions. Continuing with this tradition, and to expedite the reviewing process, manuscripts are generally limited in length to nine pages when they appear in print.
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