Problem Statement 1 — April 9

An important problem in robotics is searching for a target point in an unknown polygonal region [5]. In this problem, a robot with vision is placed at a starting point s in a polygon and must traverse a path to some target point t in the polygon. The robot has no prior information about the geometry of the polygon or the location of the target, however, the robot will recognize the target when it sees it (a robot at x can see y if the segment xy is completely contained in the polygon P ). In the worse case, a search performed by the robot can be arbitrarily inefficient compare to the shortest path from s, but strategies can be proposed depending on the type of polygon.