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Finding an Unpredictable Target in a Workspace with Obstacles (1997)
| Citations: | 79 - 13 self |
BibTeX
@INPROCEEDINGS{Lavalle97findingan,
author = {Steven M. Lavalle and David Lin and Leonidas J. Guibas and Jean-claude Latombe and Rajeev Motwani},
title = {Finding an Unpredictable Target in a Workspace with Obstacles},
booktitle = {},
year = {1997},
pages = {737--742}
}
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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. 1 Introduction Have you ever searched for someone in a building, possibly exploring the same places multiple time...
Keyphrases
unpredictable target visibility region minimum number omnidirectional vision sensor several interesting problem instance place multiple time motion strategy needed robot complete algorithm visibility-based motion planning problem formal characterization finite cell complex critical information change several bound unknown initial position computed solution strategy general problem
