Coverage Search in 3D
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems
Linköping University, The Institute of Technology
Conference paper (Refereed)
11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden
Computer and Information Science
Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental prob- lem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible.
Accepted for Publication.
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025