@TechReport{Dartmouth:TR98-336,
  author = {Christine J. Alvarado},
  title = {{Distributed Route Planning Using Partial Map Building}},
  institution = {Dartmouth College, Computer Science},
  address = {Hanover, NH},
  number = {PCS-TR98-336},
  year = {1998},
  month = {June},
  URL = {http://www.cs.dartmouth.edu/reports/TR98-336.ps.Z},
  comment = {
    Senior Honors Thesis.  Advisor: Daniela Rus.
    Source code available 
    <a href="http://www.cs.dartmouth.edu/reports/TR98-336.code.tar.Z">by ftp</a>.
  },
  abstract = {
      Our goal is to manipulate and guide an object across an unknown environment
    toward a goal in a known location in space.  Our tools include a system of
    manipulation robots, which are "blind" and one mobile scout robot who relies on
    a series of sonar sensors for information about the environment.  Previous
    solutions to this problem have taken a simultaneous guiding and manipulating
    approach, moving the whole system under the scout's guidance.  My approach,
    however, presents a separate scouting algorithm that can return a series of
    coordinates through which the manipulation system can safely pass to reach the
    goal in a static environment.  This new approach produces more optimal paths to
    the goal, as well as evading the concern of what actions to take should the
    entire system reach a dead end.  In this paper I will present both the
    algorithm and the experimental results I obtained when I built the scouting
    system.
  }
}