Comments on "Dynamic path planning for a mobile automation with limited information on the environment" [with reply]

Two path-planning algorithms are presented for the case of an uncertain environment, and a bound for the length of path generated by each algorithm is given. Lucas shows that the least upper bound corresponding to the first algorithm is incorrect, and suggests a revised algorithm which has that upper bound for its generated path lengths. However, Lumelsky et al. points out that the modification by Lucas, which requires the automaton to try to stick to the M-line, would defect the main idea behind the algorithm and thus cannot be accepted.<>