Multipass Target Search in Natural Environments

. 2017 Nov 2;17(11):2514. doi: 10.3390/s17112514

Algorithm 4 Generate_Environments(T)

Require:
Noise function T
Ensure:
set of environments
1:
$Q \leftarrow \emptyset$
2:
for all RNG seed i from 1 to N do
3:
for all coordinates $(x, y)$ in the environment do
4:
$E_{i} [x, y] \leftarrow T (x, y, i)$
5:
end for
6:
Threshold $E_{i}$ such that 66% of the workspace is collision free.
7:
Select the largest connected component and set it as free space. Make all other regions obstacles.
8:
if amount of free space is within tolerance then
9:
Remove obstacles below the minimum size threshold in pixels in $E_{i}$ .
10:
add $E_{i}$ to Q
11:
end if
12:
end for
13:
return Q