The Polygon Exploration Problem I: A Competitive Strategy
نویسندگان
چکیده
We present an on-line strategy that enables a mobile robot with vision to explore an unknown simple polygon. We prove that the resulting tour is less than 26.5 times as long as the shortest watchman tour that could be computed off-line. Our analysis is doubly founded on a novel geometric structure called the angle hull. This structure is presented in Part II of this paper [13].
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