TY - JOUR
T1 - Online polygon search by a seven-state boundary 1-searcher
AU - Kameda, Tsunehiko
AU - Yamashita, Masafumi
AU - Suzuki, Ichiro
N1 - Funding Information:
Manuscript received January 10, 2005. This paper was recommended for publication by Associate Editor F. Y. Wang and Editor S. Hutchinson upon evaluation of the reviewers’ comments. This work was supported in part by the Natural Science and Engineering Research Council of Canada, and in part by the Scientific Grant in Aid by the Ministry of Education, Sports, Culture and Technology of Japan.
PY - 2006/6
Y1 - 2006/6
N2 - Polygon search is the problem of finding mobile intruders who move unpredictably in a polygonal region. In this paper, we consider a special case of this problem, called boundary search, where the searcher is allowed to move only along the boundary of the polygon. We concentrate on a single searcher with one flashlight (called a 1-searcher), but it is known that a single boundary 1-searcher has the same searching power as a single boundary searcher with 360° vision. Our main result is that the movement of the searcher can be controlled by a finite-state machine having only seven states. This automaton has no built-in information about the input polygon and, for any given polygon can be searched by a boundary searcher at all, then this automaton will successfully search P no matter where on the boundary of P it is initially placed. All information about P is acquired by the automaton online, as it searches P. We also show that if P can be searched by a boundary searcher, then our automaton searches it by circling its boundary less than three times.
AB - Polygon search is the problem of finding mobile intruders who move unpredictably in a polygonal region. In this paper, we consider a special case of this problem, called boundary search, where the searcher is allowed to move only along the boundary of the polygon. We concentrate on a single searcher with one flashlight (called a 1-searcher), but it is known that a single boundary 1-searcher has the same searching power as a single boundary searcher with 360° vision. Our main result is that the movement of the searcher can be controlled by a finite-state machine having only seven states. This automaton has no built-in information about the input polygon and, for any given polygon can be searched by a boundary searcher at all, then this automaton will successfully search P no matter where on the boundary of P it is initially placed. All information about P is acquired by the automaton online, as it searches P. We also show that if P can be searched by a boundary searcher, then our automaton searches it by circling its boundary less than three times.
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U2 - 10.1109/TRO.2006.870640
DO - 10.1109/TRO.2006.870640
M3 - Article
AN - SCOPUS:33745122932
VL - 22
SP - 446
EP - 460
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 3
ER -