NDLI: Motion strategies for maintaining visibility of a moving target

Content Provider	IEEE Xplore Digital Library
Author	LaValle, S.M. Gonzalez-Banos, H.H. Becker, C. Latombe, J.-C.
Copyright Year	1997
Description	Author affiliation: Dept. of Comput. Sci., Stanford Univ., CA, USA (LaValle, S.M.)
Abstract	We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satisfied. Additional criteria, such as the total distance traveled, can be optimized. The general problem is divided into two categories, on the basis of whether the target is predictable. For the predictable case, an algorithm that computes optimal, numerical solutions is presented. For the more challenging case of a partially-predictable target, two online algorithms are presented that each attempt to maintain future visibility with limited prediction. One strategy maximizes the probability that the target will remain in view in a subsequent time step, and the other maximizes the minimum time in which the target could escape the visibility region. We additionally discuss issues resulting from our implementation and experiments on a mobile robot system.
Starting Page	731
Ending Page	736
File Size	935638
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620122
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Robotics and automation Motion planning Machine vision Biomedical monitoring Computerized monitoring Cameras Robot vision systems Trajectory Computer science
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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