1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2002 Planning Inspection Tours

2. 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)

3. Examples  Building a map/model of an environment

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

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

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

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

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

9. 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

10. Visibility Region Ray-sweep technique

11. Art-Gallery Problem