An Online Algorithm for Improving Performance in Navigation

DOI10.1137/S0097539795290593MaRDI QIDQ4507331zbMATH OpenOpenAlexFDO

Authors Prasad Chalasani, Avrim Blum

Publication date 18 October 2000

Published in SIAM Journal on Computing (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/9409224

zbMATH Keywords

learningonline algorithmsnavigationlower boundscompetitive analysisrobot path planningexploration vs.\ exploitationunfamiliar terrain

Mathematics Subject Classification ID

Analysis of algorithms and problem complexity (68Q25)

Abstract: Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the scene on its first trip from $s$ to $t$, can the robot improve its performance on subsequent trips it might make? This is a type of on-line problem where a strategy must exploit {em partial information /} about the future (e.g., about obstacles that lie ahead). For scenes with axis-parallel rectangular obstacles where the Euclidean distance between $s$ and $t$ is $n$, we present a deterministic algorithm whose {em average/} trip length after $k$ trips, $kleqn$, is $O(ootnbyk)$ times the length of the shortest $s$-$t$ path in the scene. We also show that this is the best a deterministic strategy can do. This algorithm can be thought of as performing an optimal tradeoff between search effort and the goodness of the path found. We improve this algorithm so that for {em every/} $ileqn$, the robot's $i$th trip length is $O(ootnbyi)$ times the shortest $s$-$t$ path length. A key idea of the paper is that a {em tree/} structure can be defined in the scene, where the nodes are portions of certain obstacles and the edges are ``short paths from a node to its children. The core of our algorithms is an on-line strategy for traversing this tree optimally.

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Cited in

(7)

• Penalty-based algorithms for the stochastic obstacle scene problem
• Monte Carlo algorithm for trajectory optimization based on Markovian readings
• Online algorithms for searching and exploration in the plane
• Competitive complexity of mobile robot on-line motion planning problems
• An optimal algorithm for the obstacle neutralization problem
• Online Navigation in a Room
• Performance bounds for planning in unknown terrain

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