NDLI: Finding an unpredictable target in a workspace with obstacles

Content Provider	IEEE Xplore Digital Library
Author	LaValle, S.M. Lin, D. Guibas, L.J. Latombe, J.-C. Motwani, R.
Copyright Year	1997
Description	Author affiliation: Dept. of Comput. Sci., Stanford Univ., CA, USA (LaValle, S.M.)
Abstract	This paper introduces a visibility-based motion planning problem in which the task is to coordinate the motions of one or more robots that have omnidirectional vision sensors, to eventually "see" a target that is unpredictable, has unknown initial position, and is capable of moving arbitrarily feast. A visibility region is associated with each robot, and the goal is to guarantee that the target will ultimately lie in at least one visibility region. Both a formal characterization of the general problem and several interesting problem instances are presented. A complete algorithm for computing the motion strategy of the robots is also presented, and is based on searching a finite cell complex that is constructed on the basis of critical information changes. A few computed solution strategies are shown. Several bounds on the minimum number of needed robots are also discussed.
Starting Page	737
Ending Page	742
File Size	822904
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620123
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	Robot sensing systems Robot kinematics Robot vision systems Cameras Robotics and automation Military computing Computer science Buildings Security Mobile robots
Content Type	Text
Resource Type	Article

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