Mapping and Pursuit-Evasion strategies for a simple wall-following robot

Max Katsev, Anna Yershova, Benjamn Tovar, Robert Ghrist, Steven M. Lavalle

Research output: Contribution to journalArticlepeer-review


This paper defines and analyzes a simple robot with local sensors that moves in an unknown polygonal environment. The robot can execute wall-following motions and can traverse the interior of the environment only when following parallel to an edge. The robot has no global sensors that would allow precise mapping or localization. Special information spaces are introduced for this particular model. Using these, strategies are presented to solve several tasks: 1) counting vertices, 2) computing the path winding number, 3) learning a combinatorial map, which is called the cut ordering, that encodes partial geometric information, and 4) solving pursuit-evasion problems.

Original languageEnglish (US)
Article number5685659
Pages (from-to)113-128
Number of pages16
JournalIEEE Transactions on Robotics
Issue number1
StatePublished - Feb 2011


  • Exploration
  • information spaces
  • minimal sensing
  • pursuit evasion
  • simultaneous localization and mapping (SLAM)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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