Controllability and Properties of Optimal paths for a Differential Drive robot with field-of-view constraints

Sourabh Bhattacharya; Seth Hutchinson

doi:10.1109/ROBOT.2006.1641939

Controllability and Properties of Optimal paths for a Differential Drive robot with field-of-view constraints

Sourabh Bhattacharya
, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This work presents the proof of controllability for a differential drive robot that maintains visibility of a landmark. The robot has limited sensing capabilities (angle of view). We also present properties of optimal paths for this system.

Original language	English (US)
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1624-1629
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641939
State	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

ASJC Scopus subject areas

Software
Control and Systems Engineering
Electrical and Electronic Engineering
Artificial Intelligence

Online availability

10.1109/ROBOT.2006.1641939

Library availability

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Bhattacharya, S., & Hutchinson, S. (2006). Controllability and Properties of Optimal paths for a Differential Drive robot with field-of-view constraints. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1624-1629). Article 1641939 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641939

Controllability and Properties of Optimal paths for a Differential Drive robot with field-of-view constraints. / Bhattacharya, Sourabh; Hutchinson, Seth.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1624-1629 1641939 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bhattacharya, S & Hutchinson, S 2006, Controllability and Properties of Optimal paths for a Differential Drive robot with field-of-view constraints. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641939, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1624-1629, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641939

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Controllability and Properties of Optimal paths for a Differential Drive robot with field-of-view constraints

Abstract

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