|
|
|
|
RI | Publications | CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments
|
|
Text only version of this site
CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments
Z. Butler
tech. report CMU-RI-TR-98-27, Robotics Institute, Carnegie Mellon University, October, 1998.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [165 KB] Compressed postscript (ps.gz) [69 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| Abstract |
Sensor-based coverage is a powerful tool for robots to use to dis- cover their environment, especially in cases when complete knowl- edge of the environment is required. Current methods have demon- strated the ability to cover virtually arbitrary planar areas but re- quire a remote sensor of nite range, such as sonar. The work presented here handles the case of robots that use only contact sensing to determine the boundaries of their environment. An al- gorithm CCR is presented that works in a wide range of rectilinear geometries. A proof of completeness is presented for CCR which shows that it always causes the robot executing it to cover its envi- ronment. Also, possible extensions of CCR to incorporate a wider variety of environments are discussed.
| Notes |
Sponsor: NSF
Grant ID: DMI-9523156
Associated lab/group: Microdynamic Systems Laboratory
| Text Reference |
Z. Butler, CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments, tech. report CMU-RI-TR-98-27, Robotics Institute, Carnegie Mellon University, October, 1998.
| BibTeX Reference |
@techreport{Butler_1998_471,
author = "Zack Butler",
title = "CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments",
institution = "Robotics Institute, Carnegie Mellon University",
month = "October",
year = "1998",
number = "CMU-RI-TR-98-27",
address = "Pittsburgh, PA"
}