{'fraction_non_alphanumeric': 0.031825795644891124, 'fraction_numerical': 0.006700167504187605, 'mean_word_length': 5.5, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Enhancing Exploration in Topological Worlds with a Directional Immovable Marker

One approach to answering the `loop-closing' problem in embedded topological worlds is through the use of an external marking aid that can help the robot disambiguate otherwise identical locations. It has been shown in [1], [2], [3] that a single immovable directional marker is sufficient to solve loop closing, although at significant exploration cost (O(m2n) worst bound). Here we provide optimizations to the earlier algorithm and demonstrate improved exploration cost on a range of different topological worlds.