In this paper we consider the problem of robotic search: that is,
having a mobile robot find a target object in an unknown environment with
obstacles. As a side-effect, the robot explores the environment. Based on
previous results, we present a formal description of our problem and an
algorithm to solve it. Our work is a derivative of spiral search techniques
developed in more abstract contexts. We show that this algorithm has good
worst-case performance, in terms of its competitive ratio. We also show
experimental data validating the feasibility of our approach and typical
results.
Burlington Research has been my
modus operandi since 2004 as a software development endeavor.
Primarily focused on web technologies, this is the effort that I'm currently
persuing from Ottawa as of 2010. The company is born of my original technical
interests in:
