Art gallery theorems and algorithms
Art gallery theorems and algorithms
Information Processing Letters
Handbook of discrete and computational geometry
Handbook of discrete and computational geometry
Robot Motion Planning
Baseline Detection and Localization for Invisible Omnidirectional Cameras
International Journal of Computer Vision - Special Issue on Omni-Directional Research in Japan
IBERAMIA'10 Proceedings of the 12th Ibero-American conference on Advances in artificial intelligence
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In this paper, we address the problem of searching for an object in a 3-D environment. We consider a mobile manipulator with an "eye-in-hand" sensor moving in the 3-D environment. In particular, we consider a static object whose location is modeled with a probability density function (pdf). We generate routes that minimize the expected value of the time until the object is first seen when following the route. We use a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited to generate trajectories that compromise between moving the manipulator base and moving the robotic arm.