A~stract-Maze-searching algorithms first appeared in graph theory and, more recently, have been studied in works on computational complexity. Although the formulation of the maze-search problem shows a clear relation to robotics, there have been no consistent attempts to connect these two fields. In this paper, a number of existing mazesearching and robot motion planning algorithms are studied from the standpoint of a single performance criterion. Our main motivation is to build a framework for

more »

... selecting basic planning algorithms for autonomous vehicles and robot arm manipulators that operate in an environment filled with unknown obstacles of arbitrary shapes. In choosing an appropriate criterion, it is noted that besides convergence, minimizing the length of generated paths is a single major consideration in planning algorithms. In addition, since no complete information is ever available, optimal solutions are ruled out. Accordingly, the performance criterion is defined in terms of the upper bound on the length of generated paths as a function of the length of maze walls. The comparison shows that the special structure of graphs that correspond to planar environments with obstacles actually allows one to exceed the efficiency of general maze-searching algorithms.