TY - GEN
T1 - Planning under topological constraints using beam-graphs
AU - Narayanan, Venkatraman
AU - Vernaza, Paul
AU - Likhachev, Maxim
AU - Lavalle, Steven M.
PY - 2013
Y1 - 2013
N2 - We present a framework based on graph search for navigation in the plane with a variety of topological constraints. The method is based on modifying a standard graph-based navigation approach to keep an additional state variable that encodes topological information about the path. The topological information is represented by a sequence of virtual sensor beam crossings. By considering classes of beam crossing sequences to be equivalent under certain equivalence relations, we obtain a general method for planning with topological constraints that subsumes existing approaches while admitting more favorable representational characteristics. We provide experimental results that validate the approach and show how the planner can be used to find loop paths for autonomous surveillance problems, simultaneously satisfying minimum-cost objectives and in dynamic environments. As an additional application, we demonstrate the use of our planner on the PR2 robot for automated building of 3D object models.
AB - We present a framework based on graph search for navigation in the plane with a variety of topological constraints. The method is based on modifying a standard graph-based navigation approach to keep an additional state variable that encodes topological information about the path. The topological information is represented by a sequence of virtual sensor beam crossings. By considering classes of beam crossing sequences to be equivalent under certain equivalence relations, we obtain a general method for planning with topological constraints that subsumes existing approaches while admitting more favorable representational characteristics. We provide experimental results that validate the approach and show how the planner can be used to find loop paths for autonomous surveillance problems, simultaneously satisfying minimum-cost objectives and in dynamic environments. As an additional application, we demonstrate the use of our planner on the PR2 robot for automated building of 3D object models.
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U2 - 10.1109/ICRA.2013.6630611
DO - 10.1109/ICRA.2013.6630611
M3 - Conference contribution
AN - SCOPUS:84887271218
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 431
EP - 437
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -