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Walking in streets with minimal sensing
, Article Journal of Combinatorial Optimization ; Volume 30, Issue 2 , 2014 , Pages 387-401 ; ISSN: 13826905 ; Ghodsi, M ; Sharif University of Technology
Abstract
We consider the problem of walking a robot in an unknown polygon called “street”, starting from a point (Formula presented.) to reach a target (Formula presented.). The robot is assumed to have minimal sensing capability in a way that cannot infer any geometric properties of the environment, such as its coordinates, angles or distances; but it is equipped with a sensor that can only detect the discontinuities in the depth information (or gaps). Our robot can also locate the target point (Formula presented.) as soon as it enters in robot’s visibility region. In addition, one pebble is assumed to be available to the robot to be used as an identifiable point and to mark any position of the...
Cooperative Multi-robot for Path Planning
, M.Sc. Thesis Sharif University of Technology ; Ghodsi, Mohammad (Supervisor)
Abstract
This thesis examines cooperating robots with minimal sensing to find the particular target described in unknown surroundings. Due to the very high cost sensor robots, Recently researchers are going to use of simple sensors for robot in special purpose and reduce costs. Of course it is clear that doing so will decrease the accuracy and efficiency of the robot and we are going to provide an efficient algorithm for performing the desired action with a good competitive factor. In this thesis the robots movement is online and robots have no knowledge of their environment (such as maps), they only using the data is gathered from the sensors to decide how to move. The accuracy of this information...
Robots’ cooperation for finding a target in streets
, Article 1st IFIP WG 1.8 International Conference on Topics in Theoretical Computer Science, 26 August 2015 through 28 August 2015 ; Volume 9541 , 2016 , Pages 30-43 ; 03029743 (ISSN) ; 9783319286778 (ISBN) ; Ghodsi, M ; Tabatabaei, A
Springer Verlag
Abstract
We study the problem of finding a target t from a start point s in street environments with the cooperation of two robots which have a minimal sensing capability; that is, robots do not know any information about the workspace including information on distances, edges, coordinates, angles etc. They just can detect the discontinuities in the visibility region of their location. The robots can detect target point t as soon as it enters their visibility region and have communication peripherals to send messages to each other. Our aim is to minimize the length of the path passed by the robots. We propose an online algorithm for robots such that they move in the workspace and find the target....
Finding the Kernel in an Unknown Polygon by a Robot with Minimal Sensing
, M.Sc. Thesis Sharif University of Technology ; Ghodsi, Mohammad (Supervisor)
Abstract
In this research, we want to find a point of the kernel in an unknown star-shaped polygon by a robot with minimal sensing, such that the path is not far from the optimum path. The robot has a gap sensor which detects the dicontinuities (gaps) in its visibility polygon and detects the direction of gaps. The robat can move toward or against these gaps. Also, the robot has a compass, and detects the North, the West, the South and the East. The robot detects the position of gaps between these directions, and also, can move along these directions. In this research, we present an on-line algorithm, by which this robot can find a point of the kernel in an unknown star-shaped polygon. The...