Dynamic graph-based search in unknown environments

A novel graph-based approach to search within unknown environments is presented. A virtual geometric structure is imposed upon the environment represented in memory by a graph. Algorithms use this representation to coordinate a team of robots (or entities). Local discovery of environment features causes dynamic expansion of the graph resulting in global exploration of the unknown environment. The algorithm is shown to have O(n) time complexity, and a maximum bound on the length of the resulting walk Ω is given.