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56
Maximizing visibility in nonconvex polygons: nonsmooth analysis and gradient algorithm design
"... Abstract — This paper presents a motion control algorithm for a planar mobile observer such as, e.g., a mobile robot equipped with an omnidirectional camera. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a simple nonconvex ..."
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Cited by 22 (2 self)
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Abstract — This paper presents a motion control algorithm for a planar mobile observer such as, e.g., a mobile robot equipped with an omnidirectional camera. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a simple nonconvex
MAXIMIZING VISIBILITY IN NONCONVEX POLYGONS: NONSMOOTH ANALYSIS AND GRADIENT ALGORITHM DESIGN
"... Abstract. This paper presents a motion control algorithm for a planar mobile observer such as, e.g., a mobile robot equipped with an omnidirectional camera. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a simple nonconvex p ..."
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Abstract. This paper presents a motion control algorithm for a planar mobile observer such as, e.g., a mobile robot equipped with an omnidirectional camera. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a simple nonconvex
ACC 2005, To appear Maximizing visibility in nonconvex polygons: nonsmooth analysis and gradient algorithm design
"... Abstract — This paper presents a motion control algorithm for a planar mobile observer such as, e.g., a mobile robot equipped with an omnidirectional camera. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a simple nonconvex ..."
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Abstract — This paper presents a motion control algorithm for a planar mobile observer such as, e.g., a mobile robot equipped with an omnidirectional camera. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a simple nonconvex
ALGORITHM FOR GRAPH VISIBILITY OBTAINMENT FROM A MAP OF NONCONVEX POLYGONS
"... Visibility graphs are basic planning algorithms,widely used in mobile robotics and other disciplines. The construction of a visibility graph can be considered a tool based on geometry that provides support to planning strategies in mobile robots. Visually, the method is used to solve that planning, ..."
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, which is quite extended due to the simplicity of operating with polygons, that represent obstacles in the environment. The cost of these algorithms tend to be quite low. The most sensitive issue of obtaining visibility between polygons is in cases in which the polygons are nonconvex. In such cases
Containment Algorithms for Nonconvex Polygons with Applications to Layout
, 1995
"... Layout and packing are NPhard geometric optimization problems of practical importance for which finding a globally optimal solution is intractable if P!=NP. Such problems appear in industries such as aerospace, ship building, apparel and shoe manufacturing, furniture production, and steel construct ..."
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Cited by 13 (5 self)
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is NPhard, it is fruitful to: 1) develop algorithms for containment, as opposed to heuristics, 2) design containment algorithms so that they say "no" almost as fast as they say "yes", 3) use geometric techniques, not just mathematical programming techniques, and 4) maximize
A Gradient Search Algorithm for the Maximal Visible Area Polygon Problem
, 2015
"... This paper provides a gradient search algorithm for finding the maximal visible area polygon (VAP) viewed by an interior point in a simple polygon P. The algorithm is based on a natural partition of P into convex sets, such that each element of the partition is associated with a unique analytical f ..."
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This paper provides a gradient search algorithm for finding the maximal visible area polygon (VAP) viewed by an interior point in a simple polygon P. The algorithm is based on a natural partition of P into convex sets, such that each element of the partition is associated with a unique analytical
CDC 2005, To appear On rendezvous for visuallyguided agents in a nonconvex polygon
"... Abstract — This paper presents coordination algorithms for mobile autonomous agents equipped with lineofsight sensors in a nonconvex polygon. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network, using only information ..."
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Abstract — This paper presents coordination algorithms for mobile autonomous agents equipped with lineofsight sensors in a nonconvex polygon. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network, using only
Convexifying monotone polygons while maintaining internal visibility
, 2011
"... Abstract. Let P be a simple polygon on the plane. Two vertices of P are visible if the open line segment joining them is contained in the interior of P. In this paper we study the following questions posed in [7,8]: (1) Is it true that every nonconvex simple polygon has a vertex that can be continu ..."
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Cited by 2 (1 self)
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Abstract. Let P be a simple polygon on the plane. Two vertices of P are visible if the open line segment joining them is contained in the interior of P. In this paper we study the following questions posed in [7,8]: (1) Is it true that every nonconvex simple polygon has a vertex that can
Motion Coordination for . . . WITH VISIBILITY SENSORS
, 2007
"... The subject of this dissertation is motion coordination for mobile robotic networks with visibility sensors. Such networks consist of robotic agents equipped with sensors that can measure distances to the environment boundary and to other agents within line of sight. We look at two fundamental coord ..."
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in a nonconvex environment. The agent is modeled as a point mass with continuous firstorder dynamics. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a nonselfintersecting nonconvex polygon. First, we show that the visible
Innercover of Nonconvex Shapes
"... Visibility methods are often based on the existence of large convex occluders. We present an algorithm that for a given simple nonconvex polygon P finds an approximate innercover by large convex polygons. The algorithm is based on an initial partitioning of P into a set C of disjoint convex polygo ..."
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Cited by 9 (0 self)
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Visibility methods are often based on the existence of large convex occluders. We present an algorithm that for a given simple nonconvex polygon P finds an approximate innercover by large convex polygons. The algorithm is based on an initial partitioning of P into a set C of disjoint convex
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