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We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satis-ed. Additional criteria, such as the total distance trav-eled, can be optimized.(More)
This paper describes an integrated mobile robotic system dubbed the intelligent observer (IO). The IO is a mobile robot which moves through an environment (such as an ooce building or a factory) while autonomously observing moving targets selected by a human operator. The robot carries one or more cameras which allow it to track objects while at the same(More)
This article describes the robots that placed first and second in each event and compares their strategies and their resulting successes and difficulties. T he 1993 robot competition consisted of three distinct events: (1) Escape from the Office, (2) Office Delivery, and (3) Office Rearrangement. The unifying theme for these events was autonomous robotics(More)
I'm revising this paper into a longer book; the paper represents about one quarter of the total length. am very grateful to all of them for their generosity with their time and ideas. The robots and experimental devices described herein were built in our lab these ideas could never have come to light without their help and experiments. I would furthermore(More)
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