To determine the environment (which includes the map-building problem), it is sufficient to reach and remember all of the tiles. If the robot must determine its environment from a small set of possibilities, an optimal worst-case plan can be precomputed. This can be computed on by using value iteration or the nondeterministic version of Dijkstra's algorithm from Section 10.2.3. When the robot is dropped into the environment, it applies the optimal plan to deduce its position, orientation, and environment. If the set of possible environments is too large (possibly infinite), then a lazy approach is most suitable. This includes the map-building problem, for which there may be little or no assumptions about the environment. A lazy approach to the map-building problem simply has to ensure that every tile is visited. One additional concern may be to minimize the amount of reroute paths, which were mentioned in Section 12.2.1. A simple algorithm that solves the problem while avoiding excessive rerouting is depth-first search, from Section 2.2.2.

Steven M LaValle 2012-04-20