Critical Point Sensing in Unknown Environments

Ercan Acar and Howie Choset
Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 4, pp. 3803 - 3810, April, 2000

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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.

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)},
year = {2000},
month = {April},
volume = {4},
pages = {3803 - 3810},
} 2017-09-13T10:46:20-04:00