DownloadThis project provides a resolution algorithm for the optimal exploration problem in the discrete space. Specifically, we define the optimal exploration problem as a classical AI search problem, which is solved with A*. A set of parameters and speedup techniques are proposed in order to balance the algorithm's expected computation time and the solution's quality.
For more details, refer to the preliminary paper: A. Quattrini Li, F. Amigoni, and N. Basilico. Searching for optimal off-line exploration paths in grid environments for a robot with limited visibility. In Proc. AAAI, pages 2060–2066, 2012.
Also, an extended version of the paper published at AAAI has been submitted to a journal.
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