We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is capable of identifying objects like a chair. We derive a practically useful and asymptotically optimal strategy that guarantees a competitive ratio of 2, which differs remarkably from the well-studied scenario without the need of stopping for surveying the environment. Our strategy is used by Kurt3D, documented in a separate video. © 2005 Elsevier B.V. All rights reserved.
Fekete, S. P., Klein, R., & Nüchter, A. (2006). Online searching with an autonomous robot. Computational Geometry: Theory and Applications, 34(2), 102–115. https://doi.org/10.1016/j.comgeo.2005.08.005