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• W2014726863 abstract "This work studies the interaction of non-holonomic and visibility constraints using a Differential Drive Robot (DDR) that has to keep static landmarks in sight in an environment with obstacles. The robot has a limited sensor, namely, it has a restricted field of view and bounded sensing range (e.g. a video camera). Here, we mean by visibility that a clear line of sight can be thrown between the landmark and the sensor mounted on the DDR. We first determine the necessary and sufficient conditions for the existence of a path such that our system is able to maintain one given landmark visibility in the presence of obstacles. This is done through a recursive, complete algorithm that uses motion primitives exhibiting local optimality, as they are locally shortest-lengths paths. Then, we extend this result to the problem of planning paths guaranteeing visibility among a set of landmarks, e.g. to observe a given sequence of landmarks or to observe at each point of the path at least one element of the landmarks set. We also provide a procedure that computes the robot controls yielding such a path." @default.
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• W2014726863 date "2014-04-01" @default.
• W2014726863 modified "2023-09-27" @default.
• W2014726863 title "Motion planning for maintaining landmarks visibility with a differential drive robot" @default.
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• W2014726863 doi "https://doi.org/10.1016/j.robot.2013.12.003" @default.
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