Automatic Sensor Configuration for Task-Directed Planning
Amy J. Briggs
Bruce R. Donald
Abstract
We consider the problem of planning the configuration of a sensor
within the context of a robotic task. In this paper, we focus on
geometrically specified tasks in the plane, and give algorithms for
computing the regions from which an idealized point-and-shoot sensor
can detect a polygonal robot. Our main algorithm allows sensor
configurations from which the robot may be partially obstructed, and
computes the regions from which the robot can be detected as it
translates through the goal at a known orientation. This algorithm
runs in time O(kmn^3 (n+m)) for an environment of complexity
n, a robot of complexity m, and a goal of complexity
k. The regions constructed can be used by an active sensing
system to configure sensors that are guaranteed to observe the robot as
it enters the goal.
A gzip'ed postscript version of this paper
is available.
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