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Abstract

Many motion planning algorithms use Morse functions to characterize the free space. Specifically, these algorithms look at the critical points of a Morse function to denote the topological changes in the free space. This paper introduces methods to sense critical points and ensure all critical points are "seen" by a coverage algorithm. Experimental results performed on a mobile robot are also presented.

Notes

Associated Lab(s) / Group(s): Biorobotics

Associated Project(s): Bridge Inspection with Serpentine Robots

Text Reference

Ercan Acar and Howie Choset, "Critical Point Sensing in Unknown Environments," Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 3803 - 3810.

BibTeX Reference

@inproceedings{Acar_2000_3387,
   author = "Ercan Acar and Howie Choset",
   title = "Critical Point Sensing in Unknown Environments",
   booktitle = "Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00)",
   pages = "3803 - 3810",
   month = "April",
   year = "2000",
   volume = "4",
}

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