ICRA 2011 Paper Abstract

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Paper TuP111.3

Bays, Matthew (Virginia Tech), Shende, Apoorva (Virginia Tech), Stilwell, Daniel (Virginia Tech), Redfield, Signe (Naval Surface Warfare Center, PC)

A Solution to the Multiple Aspect Coverage Problem

Scheduled for presentation during the Regular Sessions "Marine and Underwater Robotics I" (TuP111), Tuesday, May 10, 2011, 14:10−14:25, Room 5F

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 July 19, 2019

Keywords Marine Robotics, Motion and Path Planning

Abstract

We introduce a novel task that arises in underwater search and inspection. In this task, an underwater vehicle must re-acquire and identify clusters of discrete objects. The challenge is to generate an efficient path for the vehicle given a probabilistic description of potential target locations. We propose an algorithm that generates an efficient path and show that the algorithm is superior to standard approaches.

 

 

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