By Joseph F. O'Callaghan
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Additional info for The Latin Chronicle of the Kings of Castile (Medieval & Renaissance Texts & Studies (Series), V. 236)
The search cannot get trapped in certain obstacle conﬁgurations—potential ﬁeld methods, for example, get stuck in local minima. Nevertheless, we reach a degree of reactivity that is comparable to other collision avoidance schemes, which is due to the fact that the traversal graph is re-computed and a new path is searched for after every sensor update. This is feasible since the traversal graph can be eﬃciently constructed and its size is linear in the number of obstacles. Furthermore, it is shown that the recomputation does not lead to an oscillating behavior but yields stable paths in a static environment.
Lakemeyer The compactness of the representation as well as the stable path property make it possible to apply reactive path planning to the robot. Acknowlegments. This work was partially supported by the German Science Foundation (DFG) in the Priority Program 1125 and by the Bonn-Aachen International Center for Information Technology (B-IT). We thank the anonymous reviewers for their comments. References 1. : Computing roadmaps of general semi-algebraic sets. The Computer Journal 36(5), 504–514 (1993) 2.
This signal detection technique will be the main topic of this paper. Our approach will allow several robots of a team to send their signals continuously and simultaneously. While the calculation of bearings is inspired by the human sense of hearing, humans usually are unable to measure distances acoustically. However, there exist everyday life examples, like estimating the distance to a thunderstorm by counting the seconds between lightning and thunder. Note, that the frequencies used in our approach are human audible, in a range between 500Hz and 1000Hz.