Robotic Exploration, Brownian Motion and Electrical Resistance (Extended Abstract) (1998)
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BibTeX
@MISC{Wagner98roboticexploration,,
author = {Israel A. Wagner and Michael Lindenbaum and Alfred M. Bruckstein},
title = {Robotic Exploration, Brownian Motion and Electrical Resistance (Extended Abstract)},
year = {1998}
}
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Abstract
A random method for exploring a continuous unknown planar domain with almost no sensors is described. The expected cover time is shown to be proportional to the electrical resistance of the domain, thus extending a famous result for graphs [11]. An upper bound on the variance is also shown, and some open questions are suggested for further research. keywords: robotic exploration, cover time, Brownian motion 1 Introduction Exploring unknown terrain is an important issue in robotics. The problem has been intensively investigated, and several deterministic methods have been suggested and implemented. Most of those methods, however, rely on sophisticated, expensive and fragile systems of sensors (e.g. odometers, infra-red sensors, ultrasound radar or GPS), and/or sophisticated mapping algorithms. In this paper we suggest a minimalist approach in order to achieve the goal of covering with a minimum of sensing and computing, even if some performance reduction is implied. We show that on t...
