Critical point sensing in unknown environments
- 7 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 3803-3810
- https://doi.org/10.1109/robot.2000.845324
Abstract
Many motion planning algorithms use Morse functionsto characterize the free space. Specifically, thesealgorithms look at the critical points of a Morse functionto denote the topological changes in the free space.This paper introduces methods to sense critical pointsand ensure all critical points are "seen" by a coveragealgorithm. Experimental results performed on a mobilerobot are also presented.Keywords
This publication has 11 references indexed in Scilit:
- The arc-transversal median algorithm: a geometric approach to increasing ultrasonic sensor azimuth accuracyIEEE Transactions on Robotics and Automation, 2003
- An opportunistic global path plannerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A terrain-covering algorithm for an AUVAutonomous Robots, 1996
- Path planning and guidance techniques for an autonomous mobile cleaning robotRobotics and Autonomous Systems, 1995
- An opportunistic global path plannerAlgorithmica, 1993
- Robot Motion PlanningPublished by Springer Nature ,1991
- Dynamic path planning in sensor-based terrain acquisitionIEEE Transactions on Robotics and Automation, 1990
- Optimization and Nonsmooth AnalysisPublished by Society for Industrial & Applied Mathematics (SIAM) ,1990
- Region filling operations with random obstacle avoidance for mobile robotsJournal of Robotic Systems, 1988
- Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shapeAlgorithmica, 1987