Leaving an Unknown Maze with One-Way Roads

We consider the problem of escaping from an unknown polygonal maze under limited resources. The maze may have passages that can be traversed in only one direction. It is well-known that in a setting without ’one-way roads’, the Pledge algorithm always finds a path out of an unknown maze provided that such a path exists. We extend the Pledge algorithm for our type of environments and show the correctness of our solutions. Apart from the maze-leaving application, we introduce a new type of scenes that combines the advantages of both polygonal scenes (i.e., modelling the geometric shape of the environment) and directed graphs (i.e., modelling the connectivity of several parts in the environment). This type might be interesting to consider in other motion-planning tasks such as exploration and search.