# Dynamic graph-based search in unknown environments

HAYNES, Paul, ALBOUL, Lyuba and PENDERS, Jacques (2012). Dynamic graph-based search in unknown environments. Journal of Discrete Algorithms, 12, 2-13.

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Link to published version:: 10.1016/j.jda.2011.06.004

## Abstract

A novel graph-based approach to search in unknown environments is presented. A virtual geometric structure is imposed on the environment represented in computer memory by a graph. Algorithms use this representation to coordinate a team of robots (or entities). Local discovery of environmental features cause dynamic expansion of the graph resulting in global exploration of the unknown environment. The algorithm is shown to have $O(k \cdot n_{H})$ time complexity, where $n_{H}$ is the number of vertices of the discovered environment and $1 \leq k <n_{H}$. A maximum bound on the length of the resulting walk $\Omega$ is given.

Item Type: Article Materials and Engineering Research Institute > Centre for Automation and Robotics Research > Mobile Machine and Vision Laboratory 10.1016/j.jda.2011.06.004 Lyuba Alboul 12 Aug 2011 10:29 13 Mar 2013 10:56 http://shura.shu.ac.uk/id/eprint/3755

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