CS 326 A: Motion Planning Planning Inspection Tours

Planning for Visual Tasks  Robots carry sensors to acquire information about an environment (e.g., build a map)  How the robot should move to acquire desired information as efficiently as possible  Distinction between sensing as a means for achieving a task (sensing for reliable navigation) and sensing as the of the purpose of the task (e.g., map building)

Examples  Building a map/model of an environment

Examples  Inspecting an environment or a structure E.g., inspection of bridges by blimps, of space station by free-flying robots, …

Examples  Building a map/model of an environment  Inspecting an environment or a structure  Finding an object or an evading target

Examples  Building a map/model of an environment  Inspecting an environment or a structure  Finding an object or an evading target  Tracking a target

What Are the New Issues? 1.Deal simultaneously with motion and visual obstructions

What Are the New Issues? 1.Deal simultaneously with motion and visual obstructions

What Are the New Issues? 1.Deal simultaneously with motion and visual obstructions 2.Configuration/state  Information state 0 : the target does not hide beyond the edge 1 : the target may hide beyond the edge

Visibility Region Ray-sweep technique

Art-Gallery Problem