ICRA 2011 Paper Abstract


Paper ThA201.1

Salaris, Paolo (University of Pisa), Pallottino, Lucia (Università di Pisa), Bicchi, Antonio (University of Pisa)

Shortest Paths with Side Sensors

Scheduled for presentation during the Regular Sessions "Nonholonomic Motion Planning" (ThA201), Thursday, May 12, 2011, 10:05−10:20, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Nonholonomic Motion Planning, Motion and Path Planning, Visual Navigation


We present a complete characterization of shortest paths to a goal position for a vehicle with unicycle kinematics and a limited range sensor, constantly keeping a given landmark in sight. Previous work on this subject studied the optimal paths in case of a frontal, symmetrically limited Field-of–View (FOV). In this paper we provide a generalization to the case of arbitrary FOVs, including the case that the direction of motion is not an axis of symmetry for the FOV, and even that it is not contained in the FOV. The provided solution is of particular relevance to applications using side-scanning, such as e.g. in underwater sonar-based surveying and navigation.



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