Critical Point Sensing in Unknown Environments - Robotics Institute Carnegie Mellon University

Critical Point Sensing in Unknown Environments

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

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.

BibTeX

@conference{Acar-2000-8009,
author = {Ercan Acar and Howie Choset},
title = {Critical Point Sensing in Unknown Environments},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2000},
month = {April},
volume = {4},
pages = {3803 - 3810},
}