Visibility-Based Planning of Sensor Control Strategies
Amy J. Briggs
Bruce R. Donald
Abstract
We consider the problem of planning sensor control strategies that enable a
sensor to be automatically configured for robot tasks. In this
paper we present robust and efficient algorithms for computing the
regions from which a sensor has unobstructed or partially obstructed
views of a target in a goal. We apply these algorithms to the Error
Detection and Recovery problem of recognizing whether a goal or
failure region has been achieved. Based on these methods and
strategies for visually-cued camera control, we have built a robot
surveillance system in which one mobile robot navigates to a viewing
position from which it has an unobstructed view of a goal region,
and then uses visual recognition to detect when a specific target
has entered the region.
A gzip'ed postscript version
of this paper is available.
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