Class 16 (May 28): EXPLORING AND INSPECTING ENVIRONMENTS

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• Topics:
  
  - Planning of inspection and control strategies
  - 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. [pdf]
• Target finding:
  S.M. LaValle, D. Lin, L.J. Guibas, J.C. Latombe, and R. Motwani. Visibility-Based Pursuit-Evasion in a Polygonal Environment. Proc. 5th Workshop on Algorihtms and Data Structures (WADS'97), pages 17--30. Springer Verlag, 1997. [pdf]
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  S.M. LaValle, D. Lin, L.J. Guibas, J.C. Latombe, and R. Motwani. Finding an Unpredictable Target in a Workspace with Obstacles. Proc. IEEE Int'l Conf. on Robotics and Automation, pages 737--742, 1997. [pdf]
  
  
• Other Readings:
• Finding a target with two pursuers:
  B.H. Simov, S.M. LaValle, and G. Slutzki. A Complete Pursuit-Evasion Algorithm for Two Pursuers Using Beam Detection. Proc. Int. Conf. Robotics and Automation, 2002. [pdf]
• A recent survey of research on mapping:
  S. Thrun. Robotic Mapping: A Survey. Report CMU-CS-02-111, Computer Science Dept. CMU, February 2001. [pdf]
• Next-Best-View planning:
  H. Gonzalez-Banos and J.C. Latombe. Navigation Strategies for Exploring Indoor Environments. Int. J. Robotics Research, 2003. [pdf]

· Powerpoint slides:

· Introduction

· Paper 1

· Paper 2