Motion Planning with Visibility Constraints: Building Autonomous Observers (original) (raw)

Robotics Research, 1998

Abstract

Autonomous Observers are mobile robots that cooperativelyperform vision tasks. Their designraises new issues in motion planning, where visibilityconstraints and motion obstructions mustbe simultaneously taken into account. This paperpresents the concept of an Autonomous Observerand its applications. It discusses three problems inmotion planning with visibility constraints: modelbuilding, target finding, and target tracking.1 IntroductionWe are interested in mobile robots which...

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