在线探索网格多边形
Exploring Grid Polygons Online
摘要：
研究了移动机器人在一个未知的蜂窝状空间中移动时的探测问题。要探索一个单元格，机器人必须进入它。一旦进入，机器人就知道4个相邻单元格中的哪一个存在，哪些是边界边缘。机器人从房间外墙附近的指定单元开始;它访问每个单元，然后返回到起点。我们的兴趣是在一个短的探索之旅，也就是说，在保持多个细胞访问的数量小。对于无障碍物的任意环境，我们提供了一个产生长度为S <= C + 1/2 E - 3的旅行的策略，对于有障碍物的环境，我们提供了一个由S <= C + 1/2 E +3 H + WCW - 2约束的策略，其中C表示单元的数量-面积-，E表示边界边的数量-周长-，H是障碍物的数量，WCW是给定环境的弯曲度的度量。
英文摘要：
We investigate the exploration problem of a short-sighted mobile robot moving in an unknown cellular room. To explore a cell, the robot must enter it. Once inside, the robot knows which of the 4 adjacent cells exist and which are boundary edges. The robot starts from a specified cell adjacent to the room's outer wall; it visits each cell, and returns to the start. Our interest is in a short exploration tour; that is, in keeping the number of multiple cell visits small. For abitrary environments containing no obstacles we provide a strategy producing tours of length S <= C + 1/2 E - 3, and for environments containing obstacles we provide a strategy, that is bound by S <= C + 1/2 E + 3H + WCW - 2, where C denotes the number of cells-the area-, E denotes the number of boundary edges-the perimeter-, and H is the number of obstacles, and WCW is a measure for the sinuosity of the given environment.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
