A Sample-based Convex Cover for Rapidly Finding an Object in a 3-D Environment

Abstract

In this paper we address the problem of generating a motion strategy to find an object in a known 3-D environment as quickly as possible on average. We use a sampling scheme that generates an initial set of sensing locations for the robot and then we propose a convex cover algorithm based on this sampling. Our algorithm tries to reduce the cardinality of… (More)
DOI: 10.1109/ROBOT.2005.1570649

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