NDLI: View Planning Problem with Combined View and Traveling Cost

Content Provider	IEEE Xplore Digital Library
Author	Pengpeng Wang Krishnamurti, R. Gupta, K.
Copyright Year	2007
Description	Author affiliation: Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC (Pengpeng Wang)
Abstract	In this paper, we introduce the problem of view planning with combined view and traveling cost, denoted by traveling VPP. It refers to planning a sequence of sensing actions with minimum total cost by a robot-sensor system to completely inspect the surfaces of objects in a known workspace. The cost to minimize is a combination of the view cost, proportional to the number of viewpoints planned, and the traveling cost for the robot to realize them. First, we formulate traveling VPP as an integer linear program (ILP). The focus of this paper is to design an approximation algorithm that guarantees worst-case performance (w.r.t. the optimal solution cost). We propose a linear program based rounding algorithm that achieves an approximation ratio of the order of view frequency, defined to be the maximum number of viewpoints that see a single surface patch of the object. Together with the result we showed (2006), the best approximation ratio for Traveling VPP is either the order of view frequency or a poly-log function of the input size, whichever is smaller. Motivated from the robot motion planning techniques, where the graph built for robot traveling is a tree, we then consider the corresponding special case of traveling VPP, and give a polynomial sized LP formulation. We conclude with a discussion of realistic issues and constraints towards implementing our algorithm on real robot-sensor systems.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	711
Ending Page	716
File Size	237478
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363070
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Manipulators Approximation algorithms Cost function Frequency Tree graphs Polynomials Computational geometry Sensor systems Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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