NDLI: Automatic sensor configuration for task-directed planning

Content Provider	IEEE Xplore Digital Library
Author	Briggs, A.J. Donald, B.R.
Copyright Year	1994
Description	Author affiliation: Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA (Briggs, A.J.; Donald, B.R.)
Abstract	We consider the problem of planning the configuration of a sensor within the context of a robotic task. In this paper, we focus on geometrically specified tasks in the plane, and give algorithms for computing the regions from which an idealized point-and-shoot sensor can detect a polygonal robot. Our main algorithm allows sensor configurations from which the robot may be partially obstructed, and computes the regions from which the robot can be detected as it translates through the goal at a known orientation. This algorithm runs in time O(kmn/sup 3/(n+m)) for an environment of complexity n, a robot of complexity m, and a goal of complexity k. The regions constructed can be used by an active sensing system to configure sensors that are guaranteed to observe the robot as it enters the goal.
Starting Page	1345
Ending Page	1350
File Size	605904
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351301
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Robotics and automation Orbital robotics Sensor systems Mobile robots Computer science Computational geometry Laboratories Distributed control Automatic control
Content Type	Text
Resource Type	Article

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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
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