Page 97 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World
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72 A QUICK SKETCH OF MAJOR ISSUES IN ROBOTICS
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Figure 2.E.2
achieve in it its best-case performance if it were “lucky” with its choices of
directions of motion, and its worst-case performance if it were “unlucky.”
Explain your reasoning.
5. Assuming two C-shaped obstacles in the plane, along with an M-line that
connects two distinct points S and T and intersects both obstacles, design
two examples that would result in the best-case and worst-case performance,
respectively, of Tarry’s algorithm. An obstacle can be mirror image reversed
if desired. Obstacles can touch each other, in which case the point robot
would not be able to pass between them at the contact point(s). Evaluate the
algorithm’s performance in each case.
