Art gallery theorems and algorithms
Art gallery theorems and algorithms
Handbook of discrete and computational geometry
Handbook of discrete and computational geometry
A randomized art-gallery algorithm for sensor placement
SCG '01 Proceedings of the seventeenth annual symposium on Computational geometry
Robot Motion Planning
Planning Algorithms
MICAI '08 Proceedings of the 7th Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
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In this paper, we address the problem of searching an object with a mobile robot in a known 3-D environment. We consider a 7 degrees of freedom mobile manipulator with an "eye-in-hand" sensor. The sensor is limited in both range and field of view. In this work, we propose a solution to the "where to look" part of the object finding problem based on three main procedures: 1) We propose a practical and fast method to approximate the visibility region in 3D of a sensor limited in both range and field of view. 2) We generate candidate sensing configurations over the robot configuration space using sampling. 3) We determine an order for visiting sensing configurations using a heuristic. We have implemented all our algorithms, and we present simulation results in challenging environments.