Generating Expected-Time Efficient Trajectories for Rapidly Finding an Object in Known Environments
Sarmiento, Alejandro
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Permalink
https://hdl.handle.net/2142/81657
Description
Title
Generating Expected-Time Efficient Trajectories for Rapidly Finding an Object in Known Environments
Author(s)
Sarmiento, Alejandro
Issue Date
2004
Doctoral Committee Chair(s)
Hutchinson, Seth A.
Department of Study
Computer Science
Discipline
Computer Science
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Artificial Intelligence
Language
eng
Abstract
In the final version, the robot is no longer a point but a mobile manipulator moving in a 3-D environment. The proposed solution builds on previous results and also introduces a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited to generate trajectories that compromise between moving the base and moving the robotic arm.
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