Class 11 (Monday, February 14) : PLANNING
FOR VISUAL TASKS
- Topics:
- Planning of inspection and control strategies
- Next-best-view planning for map building
- Target finding (cell decomposition of information space)
- Online planning for target tracking
- Required Readings:
- Planning of inspection paths:
T. Danner and L.E. Kavraki.
Randomized Planning for Short Inspection Paths.
IEEE International Conference on Robotics and Automation,
San Francisco, April 2000.
(ps file).
- Target finding:
S.M. LaValle, D. Lin, L.J. Guibas, J.C. Latombe, and R. Motwani.
Finding an
Unpredictable Target in a Workspace with Obstacles.
Proceedings of the IEEE International Conference on Robotics and
Automation, 1997
(ps file).
JAVA APPLET
showing examples computed by the planner described in this paper.
- Other Readings:
- Sensor control strategies:
A. Briggs and B.R. Donald.
Visibility-Based Planning of Sensor Control Strategies.
Algorithmica, to appear
(ps file).
- Map building:
H.H. Gonzalez-Banos, E. Mao, J.C. Latombe, T.M. Murali, and A. Efrat.
Planning Robot Motion Strategies for Efficient
Model Construction.
Proceedings of International Symposium on Robotics Research,
Snowbird (UT), October 1999
(ps file)
- Target tracking:
S.M. LaValle, H. Gonzalez-Banos, C. Becker, and J.C. Latombe.
Motion
Strategies for Maintaining Visibility of a Moving Target.
Proceedings of the IEEE International Conference on Robotics and
Automation, 1997
(ps file).
- Powerpoint slides -- Intro
- Powerpoint slides --
Inspection paths paper
- Powerpoint slides --
Target finding paper