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ICRA
2005
IEEE

Optimal Motion Strategies Based on Critical Events to Maintain Visibility of a Moving Target

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Optimal Motion Strategies Based on Critical Events to Maintain Visibility of a Moving Target
— In this paper, we consider the surveillance problem of maintaining visibility at a fixed distance of a mobile evader using a mobile robot equipped with sensors. Optimal motion for the target to escape is found. Symmetrically, an optimal motion strategy for the observer to always maintain visibility of the evader is determined. The optimal motion strategies proposed in this paper are based on critical events. The critical events are defined with respect to the obstacles in the environment.
Teja Muppirala, Rafael Murrieta-Cid, Seth Hutchins
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Teja Muppirala, Rafael Murrieta-Cid, Seth Hutchinson
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