International Journal of Robotics Research
Parking with the essential matrix without short baseline degeneracies
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
MICAI'07 Proceedings of the artificial intelligence 6th Mexican international conference on Advances in artificial intelligence
Shortest paths for a robot with nonholonomic and field-of-view constraints
IEEE Transactions on Robotics
Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Shortest Length Paths for a Differential Drive Robot Keeping a set of Landmarks in Sight
Journal of Intelligent and Robotic Systems
Viability control for a class of underactuated systems
Automatica (Journal of IFAC)
Time-optimal trajectories with bounded curvature in anisotropic media
International Journal of Robotics Research
Motion planning for maintaining landmarks visibility with a differential drive robot
Robotics and Autonomous Systems
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In this paper, we consider the problem of planning optimal paths for a differential-drive robot with limited sensing, that must maintain visibility of a fixed landmark as it navigates in its environment. In particular, we assume that the robot's vision sensor has a limited field of view (FOV), and that the fixed landmark must remain within the FOV throughout the robot's motion. We first investigate the nature of extremal paths that satisfy the FOV constraint. These extremal paths saturate the camera pan angle. We then show that optimal paths are composed of straight-line segments and sections of these these extremal paths. We provide the complete characterization of the shortest paths for the system by partitioning the plane into a set of disjoint regions, such that the structure of the optimal path is invariant over the individual regions