A Reactive Motion Planner to Maintain Visibility of Unpredictable Targets

  title={A Reactive Motion Planner to Maintain Visibility of Unpredictable Targets},
  author={Rafael Murrieta-Cid and H{\'e}ctor H. Gonz{\'a}lez-Ba{\~n}os and Benjam{\'i}n Tovar},
This paper deals with the problem of computing the motions of one or more robot observers in order to maintain visibility of one or several moving targets. The targets are assumed to move unpredictably, and the distribution of obstacles in the workspace is assumed to be known in advance. Our algorithm computes a motion strategy by maximizing the shortest distance to escape —the shortest distance the target needs to move in order to escape the observer’s visibility region. Three main points are… CONTINUE READING
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