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![0_image_2.png](0_image_2.png)

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1. The search space is the set of all paths starting from one of the previously placed landmarks.
2. The function to maximize is d ( ˆ α , Λ ), where Λ is the set of landmarks already placed.

## 3.3 The Ariadne'S Clew Algorithm: Explore + Search

In order to have a planner that is both complete and efficient, we combined the two previous algorithms SEARCH and EXPLORE to obtain the Ariadne's clew algorithm.

The principle of the Ariadne's clew algorithm is very simple:
1. Use the SEARCH algorithm to find whether a "simple" path exists between i o and i O .