Class #9: Criticality-Based Motion Planning: Target Finding
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This picture depicts a mobile robot (blue dot) with omni-directional vision sweeping an environment with obstacles to find any hiding (and possibly moving) targets

• Topics
  - Principles of criticality-based planning
  - Application to finding an evasive target in a polygonal environment
  - Planning in a belief/information space
• Readings:
• 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]
• Slides