Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams - Robotics Institute Carnegie Mellon University

Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams

Ercan Acar and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1305 - 1311, October, 2001

Abstract

Sensor-based coverage uses sensor information to determine a path that passes a detector over all points in an unknown space. Our prior work in coverage prescribed a path for a circular robot of radius r to pass over all points in unknown spaces; in this case we set the detector range /spl delta/ to be equal to the robot's radius, r. Our prior work in Voronoi diagrams prescribed a path for a circular robot with infinite detector range (/spl delta/=/spl infin/) to pass its detector over all points in an unknown bounded space. This work combines these, results to consider "efficient" coverage with a finite-range detector with r.

BibTeX

@conference{Acar-2001-8330,
author = {Ercan Acar and Howie Choset},
title = {Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2001},
month = {October},
volume = {3},
pages = {1305 - 1311},
}