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 fast. 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.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 737-742 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| State | Published - 1997 |
| Externally published | Yes |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: Apr 20 1997 → Apr 25 1997 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering